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First, SimpleActionClient is NOT deprecated.

What you are seeing is a warning about re-defining the macro used to annotate a given function or class is deprecated. It looks like octomap is also defining a macro to use to deprecate code, and they are both called DEPRECATED.

Second, you can see here that the version in octomap checks if DEPRECATED is already defined. The version in simple_action_client.h should also define it in this way.

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