From f3a49e40376eea6572dcb9be0eae28a47b04e9cd Mon Sep 17 00:00:00 2001
From: Tamaki Nishino <otamachan@gmail.com>
Date: Wed, 18 Feb 2026 15:43:54 +0900
Subject: [PATCH 1/2] Migrate from tl_expected to libexpected-dev

Signed-off-by: Tamaki Nishino <otamachan@gmail.com>
---
 CMakeLists.txt                       | 4 ++--
 cmake/rsl-config.cmake               | 2 +-
 include/rsl/monad.hpp                | 2 +-
 include/rsl/parameter_validators.hpp | 2 +-
 include/rsl/try.hpp                  | 2 +-
 package.xml                          | 2 +-
 6 files changed, 7 insertions(+), 7 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6413fb0..a76718f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -7,7 +7,7 @@ find_package(Eigen3 REQUIRED CONFIG)
 find_package(fmt REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(tcb_span REQUIRED)
-find_package(tl_expected REQUIRED)
+find_package(tl-expected REQUIRED)
 
 option(RSL_ENABLE_WARNINGS "Enable compiler warnings" OFF)
 if(RSL_ENABLE_WARNINGS AND CMAKE_CXX_COMPILER_ID MATCHES "(GNU|Clang)")
@@ -32,7 +32,7 @@ target_link_libraries(rsl PUBLIC
     fmt::fmt
     rclcpp::rclcpp
     tcb_span::tcb_span
-    tl_expected::tl_expected
+    tl::expected
 )
 set_target_properties(rsl PROPERTIES CXX_VISIBILITY_PRESET hidden VISIBILITY_INLINES_HIDDEN YES)
 generate_export_header(rsl EXPORT_FILE_NAME include/rsl/export.hpp)
diff --git a/cmake/rsl-config.cmake b/cmake/rsl-config.cmake
index 4f0b3c8..b8a94cf 100644
--- a/cmake/rsl-config.cmake
+++ b/cmake/rsl-config.cmake
@@ -4,7 +4,7 @@ find_dependency(Eigen3 CONFIG)
 find_dependency(fmt)
 find_dependency(rclcpp)
 find_dependency(tcb_span)
-find_dependency(tl_expected)
+find_dependency(tl-expected)
 
 include(${CMAKE_CURRENT_LIST_DIR}/rsl-targets.cmake)
 
diff --git a/include/rsl/monad.hpp b/include/rsl/monad.hpp
index 6227aed..d22eb42 100644
--- a/include/rsl/monad.hpp
+++ b/include/rsl/monad.hpp
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <tl_expected/expected.hpp>
+#include <tl/expected.hpp>
 
 #include <optional>
 
diff --git a/include/rsl/parameter_validators.hpp b/include/rsl/parameter_validators.hpp
index fe6f300..6003977 100644
--- a/include/rsl/parameter_validators.hpp
+++ b/include/rsl/parameter_validators.hpp
@@ -7,7 +7,7 @@
 
 #include <rcl_interfaces/msg/set_parameters_result.hpp>
 #include <rclcpp/parameter.hpp>
-#include <tl_expected/expected.hpp>
+#include <tl/expected.hpp>
 
 #include <fmt/ranges.h>
 
diff --git a/include/rsl/try.hpp b/include/rsl/try.hpp
index cf60454..51980a6 100644
--- a/include/rsl/try.hpp
+++ b/include/rsl/try.hpp
@@ -1,6 +1,6 @@
 #pragma once
 
-#include <tl_expected/expected.hpp>
+#include <tl/expected.hpp>
 
 /** @file */
 
diff --git a/package.xml b/package.xml
index 94a3f34..b86bfbd 100644
--- a/package.xml
+++ b/package.xml
@@ -18,7 +18,7 @@
   <depend>fmt</depend>
   <depend>rclcpp</depend>
   <depend>tcb_span</depend>
-  <depend>tl_expected</depend>
+  <depend>libexpected-dev</depend>
 
   <test_depend>ament_cmake_ros</test_depend>
   <test_depend>clang-tidy</test_depend>

From 9ea72aaedda9351203decd38b7ad3934efd71743 Mon Sep 17 00:00:00 2001
From: Tamaki Nishino <otamachan@gmail.com>
Date: Sat, 7 Mar 2026 16:48:37 +0900
Subject: [PATCH 2/2] Add cpp-expected to Windows CI pixi dependencies

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

diff --git a/.github/workflows/rolling-win-binary-build.yml b/.github/workflows/rolling-win-binary-build.yml
index 4843919..6676de0 100644
--- a/.github/workflows/rolling-win-binary-build.yml
+++ b/.github/workflows/rolling-win-binary-build.yml
@@ -21,6 +21,6 @@ jobs:
     uses: ros-controls/ros2_control_ci/.github/workflows/reusable-ros-tooling-win-build.yml@master
     with:
       ros_distro: rolling
-      pixi_dependencies: jinja2 compilers
+      pixi_dependencies: jinja2 compilers cpp-expected
       ninja_packages: rsl
       target_cmake_args: -DBUILD_TESTING=OFF