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Pixi manifests and Kilted QoS fix for the CoreSense release #1

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Pixi manifests and Kilted QoS fix for the CoreSense release #1

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40c9386
Deprecated rmw_qos_profile_t and ament_target_dependencies (#119)
elsayedelsheikh Oct 30, 2025
e86753a
Add Pixi manifests for behaviortree_ros2 and btcpp_ros2_interfaces
fmrico Sep 30, 2026
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11 changes: 8 additions & 3 deletions behaviortree_ros2/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -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
)


######################################################
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8 changes: 8 additions & 0 deletions behaviortree_ros2/include/behaviortree_ros2/bt_service_node.hpp
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Expand Up @@ -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"
Expand Down Expand Up @@ -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>
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9 changes: 9 additions & 0 deletions behaviortree_ros2/pixi.toml
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Original file line number Diff line number Diff line change
@@ -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
9 changes: 9 additions & 0 deletions btcpp_ros2_interfaces/pixi.toml
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@@ -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