Fix: Silence tl_expected and rmw_qos_profile_t deprecation warnings

[fdavulcu]

[written by AI]

A fresh moveit_pro build prints deprecation warnings from several sources in this workspace:

• example_behaviors includes the deprecated tl_expected/expected.hpp wrapper, which ROS Jazzy's tl_expected 1.3.1 flags with a #pragma message on every include. Switched to <tl/expected.hpp> from libexpected-dev, the replacement the deprecation notice recommends. The header ships in the MoveIt Pro runtime image, so this builds against current releases. The package declares the dependency it now consumes directly: <depend>libexpected-dev</depend>, find_package(tl-expected REQUIRED), an explicit tl::expected link, and the ament_export_dependencies entry (the system config exports only the imported target, so ament_target_dependencies cannot carry it).
• moveit_studio_kinova_pstop_manager uses the rmw_qos_profile_t overloads of create_service/create_client, deprecated in favor of rclcpp::QoS. Switched to rclcpp::ServicesQoS(), which wraps the same profile.
• The fanuc and ros2_kortex submodules were pinned before their own warning fixes merged. Bumped both to the merge commits of Bump cmake_minimum_required to 3.16 to silence CMake deprecation warnings fanuc#1 (cmake_minimum_required 3.3 to 3.16 across 21 packages) and Fix: Set CMP0135 to NEW to silence FetchContent timestamp warnings ros2_kortex#6 (a CMP0135 policy guard so FetchContent stops warning about archive extraction timestamps). Both are fast-forwards carrying nothing but those fixes.
• moveit_studio_ur_pstop_manager had the same rmw_qos_profile_t problem. It was fixed upstream in Use rclcpp::QoS overloads for service and client creation moveit_studio_ur_pstop_manager#4, but this workspace could not reach it, because it pins phoebe_ws and phoebe_ws pins that repo. fix(ur_pstop_manager): point submodule at the rclcpp::QoS deprecation fix (no-dups) phoebe_ws#41 moved the inner pin, and the phoebe_ws submodule here moves to that merge. It also picks up three commits this workspace was already behind on, namely a licensing sweep, removal of a dead CLIPSeg subtree from phoebe_sim, and deletion of an unused ewellix_description launch file.

Release notes

None

[coderabbitai]

No actionable comments were generated in the recent review. 🎉

ℹ️ Recent review info

⚙️ Run configuration

Configuration used: Organization UI

Review profile: CHILL

Plan: Pro Plus

Run ID: 1ce90e38-8ee1-4d35-9363-a168e199c818

📥 Commits

Reviewing files that changed from the base of the PR and between e1bdcd5 and d123213.

📒 Files selected for processing (1)

• src/external_dependencies/phoebe_ws

Included review availability: 4 reviews are currently available. Your included PR review attempts over the past 7 days set your current allowance at 8 reviews per hour.

---

📝 Walkthrough

Summary by CodeRabbit

• Bug Fixes

  • Improved compatibility and build reliability for example behaviors using updated expected-value support.
  • Improved service communication reliability for controller switching and fault-reset operations through standardized quality-of-service settings.
  • Added required support for consistent configuration and builds across supported environments.

• Maintenance

  • Updated supported hardware integration components to improve compatibility and ongoing maintenance.

Walkthrough

The pull request updates expected-library includes and package dependencies, changes protective-stop service QoS construction, and updates three external dependency references.

Changes

Expected header updates

Layer / File(s)	Summary
Update expected-library includes src/example_behaviors/include/..., src/example_behaviors/src/..., src/example_behaviors/CMakeLists.txt, src/example_behaviors/package.xml	The example behavior files use tl/expected.hpp. The package discovers, links, exports, and declares the expected-library dependency.

Protective-stop service QoS

Layer / File(s)	Summary
Update protective-stop service QoS src/moveit_pro_kinova_configs/moveit_studio_kinova_pstop_manager/src/protective_stop_manager_node.cpp	The recovery service, controller-switch client, callback-group wiring, and fault-reset client use rclcpp::ServicesQoS().

External dependency references

Layer / File(s)	Summary
Update external dependency references src/external_dependencies/fanuc, src/external_dependencies/ros2_kortex, src/external_dependencies/phoebe_ws	The fanuc, ros2_kortex, and phoebe_ws submodule pointers reference new commits.

Suggested reviewers: bkanator

---

Caution

Pre-merge checks failed

Please resolve all errors before merging. Addressing warnings is optional.

• Ignore (reviewers only)

❌ Failed checks (1 error)

Check name	Status	Explanation	Resolution
Human Review Check	❌ Error	The PR updates phoebe_ws from f5014310... to c73ef077.... The referenced upstream range removes src/ewellix_description/launch/description.launch.py (132 lines). This is a launch-script change…	This PR requires review by a requested human reviewer. After review, a non-author requested reviewer should override this pre-merge check.

✅ Passed checks (3 passed)

Check name	Status	Explanation
Linked Issues check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Out of Scope Changes check	✅ Passed	Check skipped because no linked issues were found for this pull request.
Description check	✅ Passed	The pull request description clearly explains the expected-header updates, QoS API changes, dependency declarations, and submodule updates shown in the changeset.

Full details: Human Review Check

Explanation

The PR updates phoebe_ws from f5014310... to c73ef077.... The referenced upstream range removes src/ewellix_description/launch/description.launch.py (132 lines). This is a launch-script change caused by the submodule update, so the PR matches an explicit failure condition. The other direct edits are small header, dependency, and QoS updates.

• Fix all pre-merge checks with AI

---

_{Comment @coderabbitai help to get the list of available commands.}

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ✅ jazzy: view HTML report — 33 passed
• hangar_sim
  • ✅ jazzy: view HTML report — 18 passed

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ✅ jazzy: view HTML report — 33 passed
• hangar_sim
  • ✅ jazzy: view HTML report — 18 passed

[marioprats]

In other places we use the tl_expected dependency, e.g: https://github.com/PickNikRobotics/moveit_pro/blob/v10.0/src/kinematics/path_ik/package.xml#L20

And include as tl_expected/expected.hpp, e.g: https://github.com/PickNikRobotics/moveit_pro/blob/e0dbb7aecf00ea93e48f629d4ae744f92955aaee/src/kinematics/path_ik/include/path_ik/cartesian_timing.hpp#L14

Assuming those don't throw a warning, I think we should do the same here for consistency

[fdavulcu]

I am also changing them here: https://github.com/PickNikRobotics/moveit_pro/pull/21708 -- they do emit warnings while building the main repo too.

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ✅ jazzy: view HTML report — 33 passed
• hangar_sim
  • ✅ jazzy: view HTML report — 18 passed

[github-actions]

MoveIt Pro Example WS - Objectives Integration Test Report

• lab_sim
  • ✅ jazzy: view HTML report — 33 passed
• hangar_sim
  • ✅ jazzy: view HTML report — 18 passed