Update project to use Java SE 21 and Xtext 2.39.0

- Updated the generated files to reflect the new Xtext version (2.39.0).
- Changed Java SE version from 19 to 21 in .classpath and .settings/org.eclipse.jdt.core.prefs.
- Updated MANIFEST.MF to require Java SE 21.
- Adjusted the expected size of the injectors map in XtextActivator.
- Modified pom.xml to use the variable for MWE2 version.
- Cleaned up whitespace and formatting in various generator files for consistency.
- Added a new utility method to remove leading slashes in GeneratorHelpers.

Author: ipa-rwu

plugins/de.fraunhofer.ipa.ros.parent/pom.xml

@@ -197,4 +197,4 @@
             </plugin>
         </plugins>
     </build>
-</project>
+</project>

plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/serializer/Ros2SemanticSequencer.java

@@ -431,15 +431,7 @@ protected void sequence_Publisher(ISerializationContext context, Publisher seman
 	 *         Reliability='best_effort' | 
 	 *         Reliability='reliable' | 
 	 *         Durability='transient_local' | 
-	 *         Durability='volatile' | 
-	 *         LeaseDuration=EString | 
-	 *         LeaseDuration='infinite' | 
-	 *         Liveliness='automatic' | 
-	 *         Liveliness='manual' | 
-	 *         Lifespan=EString | 
-	 *         Lifespan='infinite' | 
-	 *         Deadline=EString | 
-	 *         Deadline='infinite'
+	 *         Durability='volatile'
 	 *     )*
 	 * </pre>
 	 */

plugins/de.fraunhofer.ipa.ros2.xtext/src-gen/de/fraunhofer/ipa/ros2/services/Ros2GrammarAccess.java

@@ -215,30 +215,6 @@ public class QualityOfServiceElements extends AbstractParserRuleElementFinder {
 		private final Alternatives cDurabilityAlternatives_2_4_1_0 = (Alternatives)cDurabilityAssignment_2_4_1.eContents().get(0);
 		private final Keyword cDurabilityTransient_localKeyword_2_4_1_0_0 = (Keyword)cDurabilityAlternatives_2_4_1_0.eContents().get(0);
 		private final Keyword cDurabilityVolatileKeyword_2_4_1_0_1 = (Keyword)cDurabilityAlternatives_2_4_1_0.eContents().get(1);
-		private final Group cGroup_2_5 = (Group)cUnorderedGroup_2.eContents().get(5);
-		private final Keyword cLease_durationKeyword_2_5_0 = (Keyword)cGroup_2_5.eContents().get(0);
-		private final Assignment cLeaseDurationAssignment_2_5_1 = (Assignment)cGroup_2_5.eContents().get(1);
-		private final Alternatives cLeaseDurationAlternatives_2_5_1_0 = (Alternatives)cLeaseDurationAssignment_2_5_1.eContents().get(0);
-		private final RuleCall cLeaseDurationEStringParserRuleCall_2_5_1_0_0 = (RuleCall)cLeaseDurationAlternatives_2_5_1_0.eContents().get(0);
-		private final Keyword cLeaseDurationInfiniteKeyword_2_5_1_0_1 = (Keyword)cLeaseDurationAlternatives_2_5_1_0.eContents().get(1);
-		private final Group cGroup_2_6 = (Group)cUnorderedGroup_2.eContents().get(6);
-		private final Keyword cLivelinessKeyword_2_6_0 = (Keyword)cGroup_2_6.eContents().get(0);
-		private final Assignment cLivelinessAssignment_2_6_1 = (Assignment)cGroup_2_6.eContents().get(1);
-		private final Alternatives cLivelinessAlternatives_2_6_1_0 = (Alternatives)cLivelinessAssignment_2_6_1.eContents().get(0);
-		private final Keyword cLivelinessAutomaticKeyword_2_6_1_0_0 = (Keyword)cLivelinessAlternatives_2_6_1_0.eContents().get(0);
-		private final Keyword cLivelinessManualKeyword_2_6_1_0_1 = (Keyword)cLivelinessAlternatives_2_6_1_0.eContents().get(1);
-		private final Group cGroup_2_7 = (Group)cUnorderedGroup_2.eContents().get(7);
-		private final Keyword cLifespanKeyword_2_7_0 = (Keyword)cGroup_2_7.eContents().get(0);
-		private final Assignment cLifespanAssignment_2_7_1 = (Assignment)cGroup_2_7.eContents().get(1);
-		private final Alternatives cLifespanAlternatives_2_7_1_0 = (Alternatives)cLifespanAssignment_2_7_1.eContents().get(0);
-		private final RuleCall cLifespanEStringParserRuleCall_2_7_1_0_0 = (RuleCall)cLifespanAlternatives_2_7_1_0.eContents().get(0);
-		private final Keyword cLifespanInfiniteKeyword_2_7_1_0_1 = (Keyword)cLifespanAlternatives_2_7_1_0.eContents().get(1);
-		private final Group cGroup_2_8 = (Group)cUnorderedGroup_2.eContents().get(8);
-		private final Keyword cDeadlineKeyword_2_8_0 = (Keyword)cGroup_2_8.eContents().get(0);
-		private final Assignment cDeadlineAssignment_2_8_1 = (Assignment)cGroup_2_8.eContents().get(1);
-		private final Alternatives cDeadlineAlternatives_2_8_1_0 = (Alternatives)cDeadlineAssignment_2_8_1.eContents().get(0);
-		private final RuleCall cDeadlineEStringParserRuleCall_2_8_1_0_0 = (RuleCall)cDeadlineAlternatives_2_8_1_0.eContents().get(0);
-		private final Keyword cDeadlineInfiniteKeyword_2_8_1_0_1 = (Keyword)cDeadlineAlternatives_2_8_1_0.eContents().get(1);
 		private final RuleCall cENDTerminalRuleCall_3 = (RuleCall)cGroup.eContents().get(3);
 
 		/////////////////////
@@ -251,11 +227,7 @@ public class QualityOfServiceElements extends AbstractParserRuleElementFinder {
 		//        ('history:' History=('keep_last'|'keep_all'))? &
 		//        ('depth:' Depth=Integer0)? &
 		//        ('reliability:' Reliability=('best_effort'|'reliable'))? &
-		//        ('durability:' Durability=('transient_local'|'volatile'))? &
-		//        ('lease_duration:' LeaseDuration=(EString | 'infinite'))? &
-		//        ('liveliness:' Liveliness=('automatic'|'manual'))? &
-		//        ('lifespan:' Lifespan=(EString | 'infinite'))? &
-		//        ('deadline:' Deadline=(EString | 'infinite'))?)
+		//        ('durability:' Durability=('transient_local'|'volatile'))?)
 		//        END
 		//    ;
 		@Override public ParserRule getRule() { return rule; }
@@ -266,11 +238,7 @@ public class QualityOfServiceElements extends AbstractParserRuleElementFinder {
 		//    ('history:' History=('keep_last'|'keep_all'))? &
 		//    ('depth:' Depth=Integer0)? &
 		//    ('reliability:' Reliability=('best_effort'|'reliable'))? &
-		//    ('durability:' Durability=('transient_local'|'volatile'))? &
-		//    ('lease_duration:' LeaseDuration=(EString | 'infinite'))? &
-		//    ('liveliness:' Liveliness=('automatic'|'manual'))? &
-		//    ('lifespan:' Lifespan=(EString | 'infinite'))? &
-		//    ('deadline:' Deadline=(EString | 'infinite'))?)
+		//    ('durability:' Durability=('transient_local'|'volatile'))?)
 		//    END
 		public Group getGroup() { return cGroup; }
 
@@ -284,11 +252,7 @@ public class QualityOfServiceElements extends AbstractParserRuleElementFinder {
 		//('history:' History=('keep_last'|'keep_all'))? &
 		//('depth:' Depth=Integer0)? &
 		//('reliability:' Reliability=('best_effort'|'reliable'))? &
-		//('durability:' Durability=('transient_local'|'volatile'))? &
-		//('lease_duration:' LeaseDuration=(EString | 'infinite'))? &
-		//('liveliness:' Liveliness=('automatic'|'manual'))? &
-		//('lifespan:' Lifespan=(EString | 'infinite'))? &
-		//('deadline:' Deadline=(EString | 'infinite'))?)
+		//('durability:' Durability=('transient_local'|'volatile'))?)
 		public UnorderedGroup getUnorderedGroup_2() { return cUnorderedGroup_2; }
 
 		//('profile:' QoSProfile=('default_qos'|'services_qos'|'sensor_qos'|'parameter_qos'))?
@@ -381,78 +345,6 @@ public class QualityOfServiceElements extends AbstractParserRuleElementFinder {
 		//'volatile'
 		public Keyword getDurabilityVolatileKeyword_2_4_1_0_1() { return cDurabilityVolatileKeyword_2_4_1_0_1; }
 
-		//('lease_duration:' LeaseDuration=(EString | 'infinite'))?
-		public Group getGroup_2_5() { return cGroup_2_5; }
-		
-		//'lease_duration:'
-		public Keyword getLease_durationKeyword_2_5_0() { return cLease_durationKeyword_2_5_0; }
-		
-		//LeaseDuration=(EString | 'infinite')
-		public Assignment getLeaseDurationAssignment_2_5_1() { return cLeaseDurationAssignment_2_5_1; }
-		
-		//(EString | 'infinite')
-		public Alternatives getLeaseDurationAlternatives_2_5_1_0() { return cLeaseDurationAlternatives_2_5_1_0; }
-		
-		//EString
-		public RuleCall getLeaseDurationEStringParserRuleCall_2_5_1_0_0() { return cLeaseDurationEStringParserRuleCall_2_5_1_0_0; }
-		
-		//'infinite'
-		public Keyword getLeaseDurationInfiniteKeyword_2_5_1_0_1() { return cLeaseDurationInfiniteKeyword_2_5_1_0_1; }
-		
-		//('liveliness:' Liveliness=('automatic'|'manual'))?
-		public Group getGroup_2_6() { return cGroup_2_6; }
-		
-		//'liveliness:'
-		public Keyword getLivelinessKeyword_2_6_0() { return cLivelinessKeyword_2_6_0; }
-		
-		//Liveliness=('automatic'|'manual')
-		public Assignment getLivelinessAssignment_2_6_1() { return cLivelinessAssignment_2_6_1; }
-		
-		//('automatic'|'manual')
-		public Alternatives getLivelinessAlternatives_2_6_1_0() { return cLivelinessAlternatives_2_6_1_0; }
-		
-		//'automatic'
-		public Keyword getLivelinessAutomaticKeyword_2_6_1_0_0() { return cLivelinessAutomaticKeyword_2_6_1_0_0; }
-		
-		//'manual'
-		public Keyword getLivelinessManualKeyword_2_6_1_0_1() { return cLivelinessManualKeyword_2_6_1_0_1; }
-		
-		//('lifespan:' Lifespan=(EString | 'infinite'))?
-		public Group getGroup_2_7() { return cGroup_2_7; }
-		
-		//'lifespan:'
-		public Keyword getLifespanKeyword_2_7_0() { return cLifespanKeyword_2_7_0; }
-		
-		//Lifespan=(EString | 'infinite')
-		public Assignment getLifespanAssignment_2_7_1() { return cLifespanAssignment_2_7_1; }
-		
-		//(EString | 'infinite')
-		public Alternatives getLifespanAlternatives_2_7_1_0() { return cLifespanAlternatives_2_7_1_0; }
-		
-		//EString
-		public RuleCall getLifespanEStringParserRuleCall_2_7_1_0_0() { return cLifespanEStringParserRuleCall_2_7_1_0_0; }
-		
-		//'infinite'
-		public Keyword getLifespanInfiniteKeyword_2_7_1_0_1() { return cLifespanInfiniteKeyword_2_7_1_0_1; }
-		
-		//('deadline:' Deadline=(EString | 'infinite'))?
-		public Group getGroup_2_8() { return cGroup_2_8; }
-		
-		//'deadline:'
-		public Keyword getDeadlineKeyword_2_8_0() { return cDeadlineKeyword_2_8_0; }
-		
-		//Deadline=(EString | 'infinite')
-		public Assignment getDeadlineAssignment_2_8_1() { return cDeadlineAssignment_2_8_1; }
-		
-		//(EString | 'infinite')
-		public Alternatives getDeadlineAlternatives_2_8_1_0() { return cDeadlineAlternatives_2_8_1_0; }
-		
-		//EString
-		public RuleCall getDeadlineEStringParserRuleCall_2_8_1_0_0() { return cDeadlineEStringParserRuleCall_2_8_1_0_0; }
-		
-		//'infinite'
-		public Keyword getDeadlineInfiniteKeyword_2_8_1_0_1() { return cDeadlineInfiniteKeyword_2_8_1_0_1; }
-		
 		//END
 		public RuleCall getENDTerminalRuleCall_3() { return cENDTerminalRuleCall_3; }
 	}
@@ -1271,11 +1163,7 @@ public ParserRule getAmentPackageRule() {
 	//        ('history:' History=('keep_last'|'keep_all'))? &
 	//        ('depth:' Depth=Integer0)? &
 	//        ('reliability:' Reliability=('best_effort'|'reliable'))? &
-	//        ('durability:' Durability=('transient_local'|'volatile'))? &
-	//        ('lease_duration:' LeaseDuration=(EString | 'infinite'))? &
-	//        ('liveliness:' Liveliness=('automatic'|'manual'))? &
-	//        ('lifespan:' Lifespan=(EString | 'infinite'))? &
-	//        ('deadline:' Deadline=(EString | 'infinite'))?)
+	//        ('durability:' Durability=('transient_local'|'volatile'))?)
 	//        END
 	//    ;
 	public QualityOfServiceElements getQualityOfServiceAccess() {