Address deprecations of StaticSingleThreadedExecutor and realtime_too…

…ls/thread_priority.hpp (#3139)

* Switch StaticSingleThreadedExecutor to SingleThreadedExecutor

* Update realtime_tools header in servo node too

* Conditional include

* Update moveit_ros/moveit_servo/src/servo_node.cpp

* Update moveit_ros/moveit_servo/src/servo_node.cpp

---------

Co-authored-by: Michael Ferguson <mfergs7@gmail.com>

moveit_ros/moveit_servo/src/servo_node.cpp

@@ -38,9 +38,14 @@
  *
  */
 
-#include <moveit_servo/servo_node.hpp>
+#if __has_include(<realtime_tools/realtime_helpers.hpp>)
+#include <realtime_tools/realtime_helpers.hpp>
+#else
 #include <realtime_tools/thread_priority.hpp>
+#endif
+
 #include <moveit/utils/logger.hpp>
+#include <moveit_servo/servo_node.hpp>
 
 namespace moveit_servo
 {

moveit_ros/warehouse/src/broadcast.cpp

@@ -42,7 +42,7 @@
 #include <boost/program_options/options_description.hpp>
 #include <boost/program_options/parsers.hpp>
 #include <boost/program_options/variables_map.hpp>
-#include <rclcpp/executors/static_single_threaded_executor.hpp>
+#include <rclcpp/executors/single_threaded_executor.hpp>
 #include <rclcpp/logger.hpp>
 #include <rclcpp/logging.hpp>
 #include <rclcpp/node.hpp>
@@ -118,7 +118,7 @@ int main(int argc, char** argv)
   if (!conn->connect())
     return 1;
 
-  rclcpp::executors::StaticSingleThreadedExecutor executor;
+  rclcpp::executors::SingleThreadedExecutor executor;
   executor.add_node(node);
 
   rclcpp::Rate rate(static_cast<int64_t>(delay) * 1000ms);