Humble doesn't support create_client with the rclcpp::QoS object

[leonce-m]

Describe the bug When building canopen_core on a Jetson AGX Orin inside the Isaac ROS docker for ROS2 Humble, I get the following error:

--- stderr: canopen_core                               
/workspaces/isaac_ros-dev/src/ros2_canopen/canopen_core/src/node_interfaces/node_canopen_driver.cpp: In member function ‘void ros2_canopen::node_interfaces::NodeCanopenDriver<NODETYPE>::demand_set_master() [with NODETYPE = rclcpp::Node]’:
/workspaces/isaac_ros-dev/src/ros2_canopen/canopen_core/src/node_interfaces/node_canopen_driver.cpp:30:32: error: cannot convert ‘rclcpp::QoS’ to ‘const rmw_qos_profile_t&’ {aka ‘const rmw_qos_profile_s&’}
   30 |     init_service_name, rclcpp::QoS(10), client_cbg_);
      |                                ^~~~~~~
      |                                |
      |                                rclcpp::QoS
In file included from /opt/ros/humble/include/rclcpp/rclcpp/node.hpp:1321,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /opt/ros/humble/include/rclcpp/rclcpp/executors.hpp:22,
                 from /opt/ros/humble/include/rclcpp/rclcpp/rclcpp.hpp:155,
                 from /workspaces/isaac_ros-dev/src/ros2_canopen/canopen_core/include/canopen_core/node_interfaces/node_canopen_driver.hpp:33,
                 from /workspaces/isaac_ros-dev/src/ros2_canopen/canopen_core/src/node_interfaces/node_canopen_driver.cpp:14:
/opt/ros/humble/include/rclcpp/rclcpp/node_impl.hpp:127:29: note:   initializing argument 2 of ‘typename rclcpp::Client<ServiceT>::SharedPtr rclcpp::Node::create_client(const string&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = canopen_interfaces::srv::CONode; typename rclcpp::Client<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Client<canopen_interfaces::srv::CONode> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’
  127 |   const rmw_qos_profile_t & qos_profile,
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
/workspaces/isaac_ros-dev/src/ros2_canopen/canopen_core/src/node_interfaces/node_canopen_driver.cpp: In member function ‘void ros2_canopen::node_interfaces::NodeCanopenDriver<NODETYPE>::demand_set_master() [with NODETYPE = rclcpp_lifecycle::LifecycleNode]’:
/workspaces/isaac_ros-dev/src/ros2_canopen/canopen_core/src/node_interfaces/node_canopen_driver.cpp:74:24: error: cannot convert ‘rclcpp::QoS’ to ‘const rmw_qos_profile_t&’ {aka ‘const rmw_qos_profile_s&’}
   74 |     init_service_name, qos, client_cbg_);
      |                        ^~~
      |                        |
      |                        rclcpp::QoS
In file included from /opt/ros/humble/include/rclcpp_lifecycle/rclcpp_lifecycle/lifecycle_node.hpp:996,
                 from /workspaces/isaac_ros-dev/src/ros2_canopen/canopen_core/include/canopen_core/node_interfaces/node_canopen_driver.hpp:34,
                 from /workspaces/isaac_ros-dev/src/ros2_canopen/canopen_core/src/node_interfaces/node_canopen_driver.cpp:14:
/opt/ros/humble/include/rclcpp_lifecycle/rclcpp_lifecycle/lifecycle_node_impl.hpp:103:29: note:   initializing argument 2 of ‘typename rclcpp::Client<ServiceT>::SharedPtr rclcpp_lifecycle::LifecycleNode::create_client(const string&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = canopen_interfaces::srv::CONode; typename rclcpp::Client<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Client<canopen_interfaces::srv::CONode> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]’
  103 |   const rmw_qos_profile_t & qos_profile,
      |   ~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~
make[2]: *** [CMakeFiles/node_canopen_driver.dir/build.make:76: CMakeFiles/node_canopen_driver.dir/src/node_interfaces/node_canopen_driver.cpp.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:143: CMakeFiles/node_canopen_driver.dir/all] Error 2
make: *** [Makefile:146: all] Error 2
---
Failed   <<< canopen_core [7.63s, exited with code 2]

To Reproduce

1. Clone isaac_ros_common
2. Follow the steps from nvidia to install docker and setup the dev environment.
3. Build the default aarch64.ros2_humble docker image using run_dev.sh from isaac_ros_common.
4. Build ros2_canopen inside the docker container.

Expected behavior Build is successful.

Setup:

• Device: Jetson AGX Orin
• OS: Jetpack 5.1.2-b104
• ROS-Distro: Humble
• Branch/Commit: master

Additional context In the latest commit for humble 2c8d2aa a similar issue is mentioned with ComponentManager.

[ipa-vsp]

Hi @leonce-m,

Currently, master branch only supports rolling and iron. Therefore for humble please use humble branch.

216 , #217

[leonce-m]

Aw shucks! My bad.