Fixing deprecated code for Jazzy + Adding support of Kilted

[2lian]

Hello,

I was bothered by the following deprecation warning on ROS 2 Jazzy and also the fact that I couldn't build on ROS 2 Kilted:

--- stderr: odrive_can
/home/elian/moonbot_tools/workspace/src/odrive_node/src/odrive_can_node.cpp: In constructor 'ODriveCanNode::ODriveCanNode(const std::string&)':
/home/elian/moonbot_tools/workspace/src/odrive_node/src/odrive_can_node.cpp:50:59: warning: 'typename rclcpp::Service<ServiceT>::SharedPtr rclcpp::Node::create_service(const std::string&, CallbackT&&, const rmw_qos_profile_t&, rclcpp::CallbackGroup::SharedPtr) [with ServiceT = odrive_can::srv::AxisState; CallbackT = std::_Bind<void (ODriveCanNode::*(ODriveCanNode*, std::_Placeholder<1>, std::_Placeholder<2>))(std::shared_ptr<odrive_can::srv::AxisState_Request_<std::allocator<void> > >, std::shared_ptr<odrive_can::srv::AxisState_Response_<std::allocator<void> > >)>; typename rclcpp::Service<ServiceT>::SharedPtr = std::shared_ptr<rclcpp::Service<odrive_can::srv::AxisState> >; std::string = std::__cxx11::basic_string<char>; rmw_qos_profile_t = rmw_qos_profile_s; rclcpp::CallbackGroup::SharedPtr = std::shared_ptr<rclcpp::CallbackGroup>]' is deprecated: use rclcpp::QoS instead of rmw_qos_profile_t [-Wdeprecated-declarations]
   50 |         service_ = rclcpp::Node::create_service<AxisState>("request_axis_state", std::bind(&ODriveCanNode::service_callback, this, _1, _2), srv_qos.get_rmw_qos_profile());
      |                    ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
In file included from /home/elian/moonbot_tools/.pixi/envs/default/include/rclcpp/rclcpp/node.hpp:1663,
                 from /home/elian/moonbot_tools/.pixi/envs/default/include/rclcpp/rclcpp/executors/single_threaded_executor.hpp:28,
                 from /home/elian/moonbot_tools/.pixi/envs/default/include/rclcpp/rclcpp/executors.hpp:22,
                 from /home/elian/moonbot_tools/.pixi/envs/default/include/rclcpp/rclcpp/rclcpp.hpp:172,
                 from /home/elian/moonbot_tools/workspace/src/odrive_node/include/odrive_can_node.hpp:4,
                 from /home/elian/moonbot_tools/workspace/src/odrive_node/src/odrive_can_node.cpp:1:

I quickly fixed this by using a if macro against the version of RCLCPP and using the new ROS syntax for the new versions.

This change does build and execute under Humble, Jazzy, Kilted and looks alright to me. I couldn't test with hardware.

[CLAassistant]

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[samuelsadok]

Thanks for the PR. The high level motivation seems good. Some comments on the implementation:

1. I prefer to have only the smallest possible difference is inside the #if. So something like

        rclcpp::QoS srv_qos(rclcpp::KeepAll{});
    #if
        auto srv_qos_profile = srv_qos;
    #else
        auto srv_qos_profile = srv_qos.get_rmw_qos_profile();
    #endif

   In this case you can actually re-use the same srv_qos_profile for both instances to save on lines of code.
2. Formatting: #if should not be indented
3. If you have a link that documents the deprecation, you can put it in a comment.

[2lian]

@samuelsadok Thanks for the fast response, I implemented your suggestions.

[2lian]

Quickly fixed in the train on my phone. Will test build+run at home tomorrow

[2lian]

Tested build+execution. Looks fine but I cannot test with hardware and cannot test calling the services.

[samuelsadok]

Looks good now! A hardware test is no needed here because it's a minimal change and high up in the stack so if the compile passes that's enough.