Update urdf/model.h -> urdf/model.hpp

[rhaschke]

The old header is marked obsolete.

Not all addressed yet

[sea-bass]

This changelist is actually fine.

HOWEVER, CI is still failing because srdfdom requires the same update, and a release since it's installed from binaries.

So I think for now we'll need this merged, and brought in via vcstool until there is a new release of srdfdom bloomed: moveit/srdfdom#127

[sea-bass]

BTW for reference, seems the deprecation warning came in with a linting PR: ros2/urdf#39

Since this URDF deprecation warning change was only added to Rolling via the latest urdf repo changes, we will need to handle this separately for Humble/Iron since those branches do not have model.hpp.

needs more changes after all

[sjahr]

@rhaschke I took your PR and added SebC's proposed changes. 🤞 this fixes CI

[rhaschke]

@sjahr: I added srdfdom to the upstream workspace, which should fix CI.

[rhaschke]

Looks like workspace overlay doesn't work correctly: Although srdfdom is part of the upstream_ws, MoveIt still finds srdfdom headers in /opt/ros... Same issue in #3026.

[mikeferguson]

I think there isn't anything we can do at the moment to get CI working - however, for the future, we can fix srdfdom to install it's headers slightly differently (into include/${PACKAGE_NAME} as noted in ros2/ros2#1150) so that overlays could work - this is what most of the core ROS packages do to work around the underlay/overlay issue

[sea-bass]

Worst case @JafarAbdi and I already put in a new release of srdfdom for the next sync, so... yeah.

[sjahr]

#3026 (review)

Do we need the selective include here in the moveit2 repo? As far as I understood, that was only necessary for srdfdom, which only has a single branch for ros2. Here, we have different branches for rolling and older releases.

The main branch is supposed to support multiple versions of ROS 2 because it acts as a "dev" branch that contains the latest (breaking) features and the distribution branches contain a stable version that is branched off around the distribution release and only receives bug fixes (@tylerjw wrote a nice article about this in the moveit blog a while ago). Without the selective include we'd break support for Humble and Iron and personally, I'd be in favor of adding the selective for now. Feel free to take what you need from #3026, if you agree

[sea-bass]

Let's get this in until srdfdom is released.

Can we have an issue or TODO reminder to re-enable this compiler warning though?

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also, the fix to the tutorials build is (hopefully) in moveit/moveit2_tutorials#977