From 65757b18ecb5757e42a351653eae8e3978d586dd Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Wed, 25 Mar 2026 20:20:35 +0100
Subject: [PATCH 1/3] GPL custom validator: Use tl_expected from
 libexpected-dev (#2212)

(cherry picked from commit 813ed25b48d8cec5ce789d323082b36dfe839303)

# Conflicts:
#	joint_trajectory_controller/CMakeLists.txt
#	joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
---
 joint_trajectory_controller/CMakeLists.txt    | 34 +++++++++++++++++++
 .../validate_jtc_parameters.hpp               | 16 ++++++++-
 joint_trajectory_controller/package.xml       |  2 +-
 3 files changed, 50 insertions(+), 2 deletions(-)

diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt
index 3e360e781a..efd2090d5d 100644
--- a/joint_trajectory_controller/CMakeLists.txt
+++ b/joint_trajectory_controller/CMakeLists.txt
@@ -6,6 +6,7 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
+<<<<<<< HEAD
     angles
     control_msgs
     control_toolbox
@@ -20,6 +21,22 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
     rsl
     tl_expected
     trajectory_msgs
+=======
+  angles
+  control_msgs
+  control_toolbox
+  controller_interface
+  generate_parameter_library
+  hardware_interface
+  pluginlib
+  rclcpp
+  rclcpp_action
+  rclcpp_lifecycle
+  realtime_tools
+  rsl
+  trajectory_msgs
+  urdf
+>>>>>>> 813ed25 (GPL custom validator: Use tl_expected from libexpected-dev (#2212))
 )
 
 find_package(ament_cmake REQUIRED)
@@ -46,9 +63,26 @@ target_include_directories(joint_trajectory_controller PUBLIC
   $<INSTALL_INTERFACE:include/joint_trajectory_controller>
 )
 target_link_libraries(joint_trajectory_controller PUBLIC
+<<<<<<< HEAD
   joint_trajectory_controller_parameters
 )
 ament_target_dependencies(joint_trajectory_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
+=======
+                      joint_trajectory_controller_parameters
+                      control_toolbox::control_toolbox
+                      controller_interface::controller_interface
+                      hardware_interface::hardware_interface
+                      pluginlib::pluginlib
+                      rclcpp::rclcpp
+                      rclcpp_action::rclcpp_action
+                      rclcpp_lifecycle::rclcpp_lifecycle
+                      realtime_tools::realtime_tools
+                      rsl::rsl
+                      urdf::urdf
+                      angles::angles
+                      ${trajectory_msgs_TARGETS}
+                      ${control_msgs_TARGETS})
+>>>>>>> 813ed25 (GPL custom validator: Use tl_expected from libexpected-dev (#2212))
 
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.
diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
index 0b22c7cdd9..aaf91a4031 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
@@ -21,7 +21,7 @@
 #include "parameter_traits/parameter_traits.hpp"
 #include "rclcpp/parameter.hpp"
 #include "rsl/algorithm.hpp"
-#include "tl_expected/expected.hpp"
+#include "tl/expected.hpp"
 
 namespace joint_trajectory_controller
 {
@@ -33,7 +33,12 @@ tl::expected<void, std::string> command_interface_type_combinations(
   // Check if command interfaces combination is valid. Valid combinations are:
   // 1. effort
   // 2. velocity
+<<<<<<< HEAD
   // 2. position [velocity, [acceleration]]
+=======
+  // 3. position [velocity, [acceleration]]
+  // 4. position, effort
+>>>>>>> 813ed25 (GPL custom validator: Use tl_expected from libexpected-dev (#2212))
 
   if (
     rsl::contains<std::vector<std::string>>(interface_types, "velocity") &&
@@ -57,9 +62,18 @@ tl::expected<void, std::string> command_interface_type_combinations(
 
   if (
     rsl::contains<std::vector<std::string>>(interface_types, "effort") &&
+<<<<<<< HEAD
     interface_types.size() > 1)
   {
     return tl::make_unexpected("'effort' command interface has to be used alone");
+=======
+    !(interface_types.size() == 1 ||
+      (interface_types.size() == 2 &&
+       rsl::contains<std::vector<std::string>>(interface_types, "position"))))
+  {
+    return tl::make_unexpected(
+      "'effort' command interface has to be used alone or with a 'position' interface");
+>>>>>>> 813ed25 (GPL custom validator: Use tl_expected from libexpected-dev (#2212))
   }
 
   return {};
diff --git a/joint_trajectory_controller/package.xml b/joint_trajectory_controller/package.xml
index 138f72a570..368cec3ca2 100644
--- a/joint_trajectory_controller/package.xml
+++ b/joint_trajectory_controller/package.xml
@@ -24,13 +24,13 @@
   <depend>control_toolbox</depend>
   <depend>generate_parameter_library</depend>
   <depend>hardware_interface</depend>
+  <depend>libexpected-dev</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
   <depend>rclcpp_action</depend>
   <depend>rclcpp_lifecycle</depend>
   <depend>realtime_tools</depend>
   <depend>rsl</depend>
-  <depend>tl_expected</depend>
   <depend>trajectory_msgs</depend>
 
   <test_depend>ament_cmake_gmock</test_depend>

From 420e568ce558a63528f7e22b067d5b7335b39e36 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Thu, 26 Mar 2026 08:25:09 +0100
Subject: [PATCH 2/3] Update validate_jtc_parameters.hpp

---
 .../validate_jtc_parameters.hpp                    | 14 --------------
 1 file changed, 14 deletions(-)

diff --git a/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp b/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
index aaf91a4031..6866f3a15b 100644
--- a/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
+++ b/joint_trajectory_controller/include/joint_trajectory_controller/validate_jtc_parameters.hpp
@@ -33,12 +33,7 @@ tl::expected<void, std::string> command_interface_type_combinations(
   // Check if command interfaces combination is valid. Valid combinations are:
   // 1. effort
   // 2. velocity
-<<<<<<< HEAD
-  // 2. position [velocity, [acceleration]]
-=======
   // 3. position [velocity, [acceleration]]
-  // 4. position, effort
->>>>>>> 813ed25 (GPL custom validator: Use tl_expected from libexpected-dev (#2212))
 
   if (
     rsl::contains<std::vector<std::string>>(interface_types, "velocity") &&
@@ -62,18 +57,9 @@ tl::expected<void, std::string> command_interface_type_combinations(
 
   if (
     rsl::contains<std::vector<std::string>>(interface_types, "effort") &&
-<<<<<<< HEAD
     interface_types.size() > 1)
   {
     return tl::make_unexpected("'effort' command interface has to be used alone");
-=======
-    !(interface_types.size() == 1 ||
-      (interface_types.size() == 2 &&
-       rsl::contains<std::vector<std::string>>(interface_types, "position"))))
-  {
-    return tl::make_unexpected(
-      "'effort' command interface has to be used alone or with a 'position' interface");
->>>>>>> 813ed25 (GPL custom validator: Use tl_expected from libexpected-dev (#2212))
   }
 
   return {};

From 0f40b8b9a9df72b71ea1548dc91b949553a59887 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?=
 <christophfroehlich@users.noreply.github.com>
Date: Thu, 26 Mar 2026 08:27:40 +0100
Subject: [PATCH 3/3] Update CMakeLists.txt

---
 joint_trajectory_controller/CMakeLists.txt | 35 ----------------------
 1 file changed, 35 deletions(-)

diff --git a/joint_trajectory_controller/CMakeLists.txt b/joint_trajectory_controller/CMakeLists.txt
index efd2090d5d..1550553405 100644
--- a/joint_trajectory_controller/CMakeLists.txt
+++ b/joint_trajectory_controller/CMakeLists.txt
@@ -6,7 +6,6 @@ if(CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
 endif()
 
 set(THIS_PACKAGE_INCLUDE_DEPENDS
-<<<<<<< HEAD
     angles
     control_msgs
     control_toolbox
@@ -19,24 +18,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
     rclcpp_lifecycle
     realtime_tools
     rsl
-    tl_expected
     trajectory_msgs
-=======
-  angles
-  control_msgs
-  control_toolbox
-  controller_interface
-  generate_parameter_library
-  hardware_interface
-  pluginlib
-  rclcpp
-  rclcpp_action
-  rclcpp_lifecycle
-  realtime_tools
-  rsl
-  trajectory_msgs
-  urdf
->>>>>>> 813ed25 (GPL custom validator: Use tl_expected from libexpected-dev (#2212))
 )
 
 find_package(ament_cmake REQUIRED)
@@ -63,26 +45,9 @@ target_include_directories(joint_trajectory_controller PUBLIC
   $<INSTALL_INTERFACE:include/joint_trajectory_controller>
 )
 target_link_libraries(joint_trajectory_controller PUBLIC
-<<<<<<< HEAD
   joint_trajectory_controller_parameters
 )
 ament_target_dependencies(joint_trajectory_controller PUBLIC ${THIS_PACKAGE_INCLUDE_DEPENDS})
-=======
-                      joint_trajectory_controller_parameters
-                      control_toolbox::control_toolbox
-                      controller_interface::controller_interface
-                      hardware_interface::hardware_interface
-                      pluginlib::pluginlib
-                      rclcpp::rclcpp
-                      rclcpp_action::rclcpp_action
-                      rclcpp_lifecycle::rclcpp_lifecycle
-                      realtime_tools::realtime_tools
-                      rsl::rsl
-                      urdf::urdf
-                      angles::angles
-                      ${trajectory_msgs_TARGETS}
-                      ${control_msgs_TARGETS})
->>>>>>> 813ed25 (GPL custom validator: Use tl_expected from libexpected-dev (#2212))
 
 # Causes the visibility macros to use dllexport rather than dllimport,
 # which is appropriate when building the dll but not consuming it.