Ryan

> Thank you for the review: After some experimenting based on your fixes, I committed most of your changes. These two items though, seem to be required: > > ```...

> > Would be good to see if lines https://github.com/moveit/moveit2/pull/2994/files#diff-18741df7cbb95f9292a57457e88318346213653f65f3932a5a03a1eaf7b2655bR27-R30 are still needed > > According to OMPL's [build documentation](https://github.com/ompl/ompl/blob/main/doc/markdown/buildSystem.md) `OMPL_LIBRARY_DIRS` does not exist any more and the environment variables...

This PR should get us closer to fixing the accidental breakage of the old variables in find_package. https://github.com/ompl/ompl/pull/1182/files#diff-148715d6ea0c0ea0a346af3f6bd610d010d490eca35ac6a9b408748f7ca9e3f4R10 We need to then add this back into the export, along with...

Hi there, it's Ryan (who initially did the CMake changes in ompl that broke MoveIt). I have a proposed PR to restore the support for legacy environment variables: https://github.com/ompl/ompl/pull/1185 I...

Please attach the full terminal logs. There is a chance the joint state publisher crashed for some other reason.

In `AP_Scheduler::loop()`, add this code: ``` if (_active_loop_rate_hz == 0) { _active_loop_rate_hz = _loop_rate_hz; } ``` Then, in `get_loop_rate_hz`, just `return _active_loop_rate_hz;`

26131 will be backported to 4.5 FYI.

Similar to https://github.com/ArduPilot/MAVProxy/issues/460

Overall, I'm good with these changes pending the outstanding comments. Would be a great improvement to see this merged!

Cross is also broken in the find module by this: https://gitlab.kitware.com/cmake/cmake/-/issues/23659 On Ubuntu 24, if you `apt-install libprotobuf-dev` , you might hit that too.