From 30965c8b6f97e5f44d999f1386cf40d384b00bfb Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 11 Mar 2026 19:35:02 +0000
Subject: [PATCH 1/2] Use libexpected-dev instead of tl_expected

---
 README.md                                           |  2 +-
 .../example_validators.hpp                          |  2 +-
 .../cmake/generate_parameter_library.cmake          | 13 ++++++++++++-
 .../generate_parameter_library-extras.cmake         |  4 ++++
 generate_parameter_library/package.xml              |  5 +++++
 5 files changed, 23 insertions(+), 3 deletions(-)

diff --git a/README.md b/README.md
index c2620631..d9ad0643 100644
--- a/README.md
+++ b/README.md
@@ -296,7 +296,7 @@ Here is an example custom validator.
 #include <rclcpp/rclcpp.hpp>
 
 #include <fmt/core.h>
-#include <tl_expected/expected.hpp>
+#include <tl/expected.hpp>
 
 namespace my_project {
 
diff --git a/example/include/generate_parameter_library_example/example_validators.hpp b/example/include/generate_parameter_library_example/example_validators.hpp
index 31a8f897..fb511a91 100644
--- a/example/include/generate_parameter_library_example/example_validators.hpp
+++ b/example/include/generate_parameter_library_example/example_validators.hpp
@@ -33,7 +33,7 @@
 #include <string>
 
 #include <rclcpp/rclcpp.hpp>
-#include <tl_expected/expected.hpp>
+#include <tl/expected.hpp>
 
 namespace custom_validators {
 
diff --git a/generate_parameter_library/cmake/generate_parameter_library.cmake b/generate_parameter_library/cmake/generate_parameter_library.cmake
index 8094adef..93e4e61f 100644
--- a/generate_parameter_library/cmake/generate_parameter_library.cmake
+++ b/generate_parameter_library/cmake/generate_parameter_library.cmake
@@ -95,10 +95,21 @@ macro(generate_parameter_library LIB_NAME YAML_FILE)
     rclcpp_lifecycle::rclcpp_lifecycle
     rsl::rsl
     tcb_span::tcb_span
+    tl::expected
+    # for backward compatibility
+    # remove once this redirection is removed
+    # https://github.com/PickNikRobotics/cpp_polyfills/pull/12
     tl_expected::tl_expected
   )
   install(DIRECTORY ${LIB_INCLUDE_DIR} DESTINATION include)
-  ament_export_dependencies(fmt rclcpp rclcpp_lifecycle rsl tcb_span tl_expected)
+  ament_export_dependencies(
+    fmt rclcpp rclcpp_lifecycle rsl tcb_span
+    tl-expected
+    # for backward compatibility
+    # remove once this redirection is removed
+    # https://github.com/PickNikRobotics/cpp_polyfills/pull/12
+    tl_expected
+  )
 endmacro()
 
 
diff --git a/generate_parameter_library/generate_parameter_library-extras.cmake b/generate_parameter_library/generate_parameter_library-extras.cmake
index a03ac546..0f1c5f4a 100644
--- a/generate_parameter_library/generate_parameter_library-extras.cmake
+++ b/generate_parameter_library/generate_parameter_library-extras.cmake
@@ -31,6 +31,10 @@ find_package(rclcpp REQUIRED)
 find_package(rsl REQUIRED)
 find_package(rclcpp_lifecycle REQUIRED)
 find_package(tcb_span REQUIRED)
+find_package(tl-expected REQUIRED)
+# for backward compatibility
+# remove once this redirection is removed
+# https://github.com/PickNikRobotics/cpp_polyfills/pull/12
 find_package(tl_expected REQUIRED)
 
 include("${generate_parameter_library_DIR}/generate_parameter_library.cmake")
diff --git a/generate_parameter_library/package.xml b/generate_parameter_library/package.xml
index f95839a7..78ef3929 100644
--- a/generate_parameter_library/package.xml
+++ b/generate_parameter_library/package.xml
@@ -23,6 +23,11 @@
   <depend>rclcpp_lifecycle</depend>
   <depend>rsl</depend>
   <depend>tcb_span</depend>
+  <depend>libexpected-dev</depend>
+
+  <!-- for backward compatibility -->
+  <!-- remove once this redirection is removed -->
+  <!-- https://github.com/PickNikRobotics/cpp_polyfills/pull/12 -->
   <depend>tl_expected</depend>
 
   <export>

From 4d0b8859b97cceaab56c613db90718c854ac956d Mon Sep 17 00:00:00 2001
From: Christoph Froehlich <christoph.froehlich@ait.ac.at>
Date: Wed, 11 Mar 2026 19:50:24 +0000
Subject: [PATCH 2/2] Fix windows dependencies

---
 .github/workflows/rolling-semi-binary-build-win.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/rolling-semi-binary-build-win.yml b/.github/workflows/rolling-semi-binary-build-win.yml
index b76cb479..ea2cf135 100644
--- a/.github/workflows/rolling-semi-binary-build-win.yml
+++ b/.github/workflows/rolling-semi-binary-build-win.yml
@@ -19,7 +19,7 @@ jobs:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@master
     with:
       ros_distro: rolling
-      pixi_dependencies: typeguard jinja2 compilers
+      pixi_dependencies: typeguard jinja2 compilers cpp-expected
       ninja_packages: rsl
       target_cmake_args: -DBUILD_TESTING=OFF
       windows_dependencies: generate_parameter_library.rolling.repos