From 221d457499143efc4657dbd3aa0ff90e439a7101 Mon Sep 17 00:00:00 2001
From: Christian Rauch <Rauch.Christian@gmx.de>
Date: Sun, 12 Apr 2026 01:01:38 +0200
Subject: [PATCH] replace rsl::StaticVector by std::array

---
 .../generate_parameter_library_py/cpp_conversions.py        | 6 +++---
 .../jinja_templates/cpp/parameter_library_header            | 5 ++---
 2 files changed, 5 insertions(+), 6 deletions(-)

diff --git a/generate_parameter_library_py/generate_parameter_library_py/cpp_conversions.py b/generate_parameter_library_py/generate_parameter_library_py/cpp_conversions.py
index ba410a8..bb846c4 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/cpp_conversions.py
+++ b/generate_parameter_library_py/generate_parameter_library_py/cpp_conversions.py
@@ -49,9 +49,9 @@ def __init__(self):
             'double_array': lambda defined_type, templates: 'std::vector<double>',
             'int_array': lambda defined_type, templates: 'std::vector<int64_t>',
             'string_array': lambda defined_type, templates: 'std::vector<std::string>',
-            'double_array_fixed': lambda defined_type, templates: f'rsl::StaticVector<{templates[0]}, {templates[1]}>',
-            'int_array_fixed': lambda defined_type, templates: f'rsl::StaticVector<{templates[0]}, {templates[1]}>',
-            'string_array_fixed': lambda defined_type, templates: f'rsl::StaticVector<{templates[0]}, {templates[1]}>',
+            'double_array_fixed': lambda defined_type, templates: f'std::array<{templates[0]}, {templates[1]}>',
+            'int_array_fixed': lambda defined_type, templates: f'std::array<{templates[0]}, {templates[1]}>',
+            'string_array_fixed': lambda defined_type, templates: f'std::array<{templates[0]}, {templates[1]}>',
             'string_fixed': lambda defined_type, templates: f'rsl::StaticString<{templates[1]}>',
         }
         self.yaml_type_to_as_function = {
diff --git a/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/parameter_library_header b/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/parameter_library_header
index 4930c7a..4393f06 100644
--- a/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/parameter_library_header
+++ b/generate_parameter_library_py/generate_parameter_library_py/jinja_templates/cpp/parameter_library_header
@@ -22,7 +22,6 @@
 #include <fmt/ranges.h>
 
 #include <rsl/static_string.hpp>
-#include <rsl/static_vector.hpp>
 #include <rsl/parameter_validators.hpp>
 
 {% if user_validation_file|length -%}
@@ -60,8 +59,8 @@ template <size_t capacity>
 }
 
 template <typename T, size_t capacity>
-[[nodiscard]] auto to_parameter_value(rsl::StaticVector<T, capacity> const& value) {
-    return rclcpp::ParameterValue(rsl::to_vector(value));
+[[nodiscard]] auto to_parameter_value(std::array<T, capacity> const& value) {
+    return rclcpp::ParameterValue(std::vector<T>{value.begin(), value.end()});
 }
 
 {%- filter indent(width=4) %}