qos_event.hpp deprecated

[Shobuj-Paul]

Description

The qos_event.hpp header has been deprecated and needs to be updated to event_handlers.hpp.

Your environment

• ROS Distro: Rolling
• OS Version: Ubuntu 22.04
• Source Build
• main Branch
• RMW: Cyclone DDS

Steps to reproduce

Run build in any docker container as per the rolling-ci-testing + ikfast + cland-tidy (delta) workflow. Or just make a pull request to the main branch of the repo.

Expected behaviour

Successful build.

Actual behaviour

Error

Backtrace or Console output

 $ ( source /home/runner/work/moveit2/moveit2/.work/upstream_ws/install/setup.bash && cd /home/runner/work/moveit2/moveit2/.work/target_ws && colcon build --event-handlers desktop_notification- status- terminal_title- --cmake-args -DCMAKE_EXE_LINKER_FLAGS=-fuse-ld=lld -DCMAKE_SHARED_LINKER_FLAGS=-fuse-ld=lld -DCMAKE_MODULE_LINKER_FLAGS=-fuse-ld=lld -DCMAKE_BUILD_TYPE=Release -DCMAKE_CXX_FLAGS=-Werror -Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls -DCMAKE_EXPORT_COMPILE_COMMANDS=ON; )
  Starting >>> moveit_common
  Starting >>> moveit_configs_utils
  --- stderr: moveit_common
  CMake Warning:
    Manually-specified variables were not used by the project:

      CMAKE_CXX_FLAGS
      CMAKE_EXE_LINKER_FLAGS
      CMAKE_EXPORT_COMPILE_COMMANDS
      CMAKE_MODULE_LINKER_FLAGS
      CMAKE_SHARED_LINKER_FLAGS

  ---
  Finished <<< moveit_common [0.58s]
  Starting >>> moveit_core
  --- stderr: moveit_configs_utils
  /usr/lib/python3/dist-packages/setuptools/command/install.py:34: SetuptoolsDeprecationWarning: setup.py install is deprecated. Use build and pip and other standards-based tools.
    warnings.warn(
  ---
  Finished <<< moveit_configs_utils [0.87s]
  Starting >>> moveit_resources_prbt_support
  --- stderr: moveit_resources_prbt_support
  CMake Warning:
    Manually-specified variables were not used by the project:

      CMAKE_EXPORT_COMPILE_COMMANDS

  ---
  Finished <<< moveit_resources_prbt_support [1.01s]
  [Processing: moveit_core]
  [Processing: moveit_core]
  [Processing: moveit_core]
  [Processing: moveit_core]
  [Processing: moveit_core]
  [Processing: moveit_core]
  [Processing: moveit_core]
  [Processing: moveit_core]
  [Processing: moveit_core]
  [Processing: moveit_core]
  [Processing: moveit_core]
  [Processing: moveit_core]
  Finished <<< moveit_core [6min 12s]
  Starting >>> moveit_ros_occupancy_map_monitor
  Starting >>> moveit_simple_controller_manager
  Finished <<< moveit_simple_controller_manager [18.1s]
  Starting >>> moveit_resources_prbt_ikfast_manipulator_plugin
  --- stderr: moveit_ros_occupancy_map_monitor
  In file included from /home/runner/work/moveit2/moveit2/.work/target_ws/src/moveit2/moveit_ros/occupancy_map_monitor/src/occupancy_map_server.cpp:48:
  /opt/ros/rolling/include/rclcpp/rclcpp/qos_event.hpp:18:2: error: This header is obsolete, please include rclcpp/event_handler.hpp instead [-Werror,-W#warnings]
  #warning This header is obsolete, please include rclcpp/event_handler.hpp instead
   ^
  1 error generated.
  gmake[2]: *** [CMakeFiles/moveit_ros_occupancy_map_server.dir/build.make:76: CMakeFiles/moveit_ros_occupancy_map_server.dir/src/occupancy_map_server.cpp.o] Error 1
  gmake[1]: *** [CMakeFiles/Makefile2:204: CMakeFiles/moveit_ros_occupancy_map_server.dir/all] Error 2
  gmake: *** [Makefile:146: all] Error 2
  ---
  Failed   <<< moveit_ros_occupancy_map_monitor [38.5s, exited with code 2]
  Aborted  <<< moveit_resources_prbt_ikfast_manipulator_plugin [22.5s]

  Summary: 5 packages finished [6min 54s]
    1 package failed: moveit_ros_occupancy_map_monitor
    1 package aborted: moveit_resources_prbt_ikfast_manipulator_plugin
    4 packages had stderr output: moveit_common moveit_configs_utils moveit_resources_prbt_support moveit_ros_occupancy_map_monitor
    34 packages not processed
'build_target_workspace' returned with code '2' after 6 min 54 sec

[Shobuj-Paul]

Fixed with #2111