From 40c9386806d6dca4b7850da4155bfe0c506707cd Mon Sep 17 00:00:00 2001
From: ElSayed ElSheikh <elsayed.elsheikh97@gmail.com>
Date: Thu, 30 Oct 2025 07:56:25 +0300
Subject: [PATCH 1/2] Deprecated rmw_qos_profile_t and
 ament_target_dependencies (#119)

* Deprecated ament_target_dependencies

Signed-off-by: ElSayed ElSheikh <elsayed.elsheikh97@gmail.com>

* Deprecate rmw_qos_profile_t

Signed-off-by: ElSayed ElSheikh <elsayed.elsheikh97@gmail.com>

* Keep rmw_qos_profile_t for humble

Signed-off-by: ElSayed ElSheikh <elsayed.elsheikh97@gmail.com>

---------

Signed-off-by: ElSayed ElSheikh <elsayed.elsheikh97@gmail.com>
(cherry picked from commit 1ab924d7b19e6dc26c3eb1cd5afcc1ac0a54a713)
---
 behaviortree_ros2/CMakeLists.txt                      | 11 ++++++++---
 .../include/behaviortree_ros2/bt_service_node.hpp     |  8 ++++++++
 2 files changed, 16 insertions(+), 3 deletions(-)

diff --git a/behaviortree_ros2/CMakeLists.txt b/behaviortree_ros2/CMakeLists.txt
index edf1440d..68e2afa2 100644
--- a/behaviortree_ros2/CMakeLists.txt
+++ b/behaviortree_ros2/CMakeLists.txt
@@ -29,13 +29,18 @@ add_library(${PROJECT_NAME}
     src/bt_utils.cpp
     src/tree_execution_server.cpp )
 
-ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_DEPS})
-
 target_include_directories(${PROJECT_NAME} PUBLIC
         $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
         $<INSTALL_INTERFACE:include>)
 
-target_link_libraries(${PROJECT_NAME}  bt_executor_parameters)
+target_link_libraries(${PROJECT_NAME} PUBLIC
+    rclcpp::rclcpp
+    rclcpp_action::rclcpp_action
+    ament_index_cpp::ament_index_cpp
+    behaviortree_cpp::behaviortree_cpp
+    ${btcpp_ros2_interfaces_TARGETS}
+    bt_executor_parameters
+)
 
 
 ######################################################
diff --git a/behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp b/behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp
index 77958cd5..804c0906 100644
--- a/behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp
+++ b/behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp
@@ -19,6 +19,8 @@
 #include <string>
 #include <rclcpp/executors.hpp>
 #include <rclcpp/allocator/allocator_common.hpp>
+#include <rclcpp/version.h>
+#include <rclcpp/qos.hpp>
 #include "behaviortree_cpp/bt_factory.h"
 
 #include "behaviortree_ros2/ros_node_params.hpp"
@@ -216,8 +218,14 @@ inline RosServiceNode<T>::ServiceClientInstance::ServiceClientInstance(
       node->create_callback_group(rclcpp::CallbackGroupType::MutuallyExclusive, false);
   callback_executor.add_callback_group(callback_group, node->get_node_base_interface());
 
+  // For Jazzy and Later Support
+  #if RCLCPP_VERSION_GTE(28, 0, 0)
+  service_client = node->create_client<T>(service_name, rclcpp::ServicesQoS(),
+                                          callback_group);
+  #else
   service_client = node->create_client<T>(service_name, rmw_qos_profile_services_default,
                                           callback_group);
+  #endif
 }
 
 template <class T>

From e86753a7117498e6415f3ff2d245d07c5640f9b7 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Francisco=20Mart=C3=ADn=20Rico?= <fmrico@gmail.com>
Date: Wed, 30 Sep 2026 10:37:26 +0200
Subject: [PATCH 2/2] Add Pixi manifests for behaviortree_ros2 and
 btcpp_ros2_interfaces

Builds both packages as conda packages for the CoreSense Pixi channels
(ROS 2 Jazzy and Kilted).

Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
---
 behaviortree_ros2/pixi.toml     | 9 +++++++++
 btcpp_ros2_interfaces/pixi.toml | 9 +++++++++
 2 files changed, 18 insertions(+)
 create mode 100644 behaviortree_ros2/pixi.toml
 create mode 100644 btcpp_ros2_interfaces/pixi.toml

diff --git a/behaviortree_ros2/pixi.toml b/behaviortree_ros2/pixi.toml
new file mode 100644
index 00000000..83361a2f
--- /dev/null
+++ b/behaviortree_ros2/pixi.toml
@@ -0,0 +1,9 @@
+# Package manifest for Pixi: builds this ROS 2 package as a conda package.
+# Name, version and dependencies come from package.xml. See the CoreSense
+# guide: https://coresenseeu.github.io/tutorials/docs/pixi_release.html
+[package]
+publish = true
+
+[package.build.backend]
+name = "pixi-build-ros"
+workspace = true
diff --git a/btcpp_ros2_interfaces/pixi.toml b/btcpp_ros2_interfaces/pixi.toml
new file mode 100644
index 00000000..83361a2f
--- /dev/null
+++ b/btcpp_ros2_interfaces/pixi.toml
@@ -0,0 +1,9 @@
+# Package manifest for Pixi: builds this ROS 2 package as a conda package.
+# Name, version and dependencies come from package.xml. See the CoreSense
+# guide: https://coresenseeu.github.io/tutorials/docs/pixi_release.html
+[package]
+publish = true
+
+[package.build.backend]
+name = "pixi-build-ros"
+workspace = true