removed remaining foxy references

carma_ros2_utils/include/carma_ros2_utils/carma_lifecycle_node.hpp

@@ -100,16 +100,16 @@ namespace carma_ros2_utils
     virtual ~CarmaLifecycleNode();
 
     /**
-   * \brief Overrides: See https://github.com/ros2/rclcpp/blob/foxy/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp for their details
+   * \brief Overrides: See https://github.com/ros2/rclcpp/blob/humble/rclcpp_lifecycle/include/rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp for their details
    * NOTE: These methods are NOT meant to be used by extending classes. Instead the corresponding handle_<method> methods should be used
    *       to ensure the full CARMALifecycleNode functionality is employed.
    */
-    carma_ros2_utils::CallbackReturn on_configure(const rclcpp_lifecycle::State &prev_state) override;
-    carma_ros2_utils::CallbackReturn on_activate(const rclcpp_lifecycle::State &prev_state) override;
-    carma_ros2_utils::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &prev_state) override;
-    carma_ros2_utils::CallbackReturn on_cleanup(const rclcpp_lifecycle::State &prev_state) override;
-    carma_ros2_utils::CallbackReturn on_error(const rclcpp_lifecycle::State &prev_state) override;
-    carma_ros2_utils::CallbackReturn on_shutdown(const rclcpp_lifecycle::State &prev_state) override;
+    carma_ros2_utils::CallbackReturn on_configure(const rclcpp_lifecycle::State &prev_state) override final;
+    carma_ros2_utils::CallbackReturn on_activate(const rclcpp_lifecycle::State &prev_state) override final;
+    carma_ros2_utils::CallbackReturn on_deactivate(const rclcpp_lifecycle::State &prev_state) override final;
+    carma_ros2_utils::CallbackReturn on_cleanup(const rclcpp_lifecycle::State &prev_state) override final;
+    carma_ros2_utils::CallbackReturn on_error(const rclcpp_lifecycle::State &prev_state) override final;
+    carma_ros2_utils::CallbackReturn on_shutdown(const rclcpp_lifecycle::State &prev_state) override final;
 
     /**
    * \brief Callback triggered when transitioning from UNCONFIGURED to INACTIVE due to the configure signal.
@@ -267,7 +267,7 @@ namespace carma_ros2_utils
     /**
      * \brief Method to create a timer whose lifecycle can be managed by this node.
      *
-     *  NOTE: In foxy the LifecycleNode api is slightly out of sync with the node api so there is not a create_timer method there. We use rclcpp directly here
+     *  NOTE: In humble the LifecycleNode api is slightly out of sync with the node api so there is not a create_timer method there. We use rclcpp directly here
      *
      *  \param clock The underlying clock to use for the timer.
      *  \param period The period of trigger of the timer.
@@ -292,8 +292,6 @@ namespace carma_ros2_utils
      * \brief Override of rclcpp method. See descriptive comments here:
      *  https://github.com/ros2/rclcpp/blob/4859c4e43576d0c6fe626679b2c2604a9a8b336c/rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp#L271
      *
-     *  NOTE: In foxy the LifecycleNode api is slightly out of sync with the node api so there is not a create_service method there. We use rclcpp directly here
-     *
      * NOTE: The function object passed to this method will be moved using std::move.
      *       The user should therefore assume ownership of this function object has been relinquished
      */

ros2_lifecycle_manager/src/ros2_lifecycle_manager.cpp

@@ -322,8 +322,7 @@ namespace ros2_lifecycle_manager
             node_logging_->get_logger(), "Calling node a-sync: " << node.node_name);
 
         // Call service and record future
-        // TODO(CAR-6014): Remove static cast when CARMA Platform drops ROS Foxy support
-        futures.emplace_back(static_cast<const ChangeStateSharedFutureWithRequest &>(node.change_state_client->async_send_request(request, [](ChangeStateSharedFutureWithRequest) {})));
+        futures.emplace_back(node.change_state_client->async_send_request(request, [](ChangeStateSharedFutureWithRequest) {}));
         future_node_map.emplace(futures.size() - 1, node.node_name);
       }
       size_t i = 0;