Revert "nav2_util::duration_from_seconds -> rclcpp::Duration::from_se…

…conds (ros-navigation#1048)" This reverts commit 7c473cd.
crdelsey · Sep 4, 2019 · 5053bfe · 5053bfe
1 parent 6aecc6a
commit 5053bfe
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Showing 11 changed files with 52 additions and 10 deletions.
diff --git a/nav2_amcl/src/amcl_node.cpp b/nav2_amcl/src/amcl_node.cpp
@@ -31,6 +31,7 @@
 #include "message_filters/subscriber.h"
 #include "nav2_amcl/angleutils.hpp"
 #include "nav2_util/geometry_utils.hpp"
+#include "nav2_util/duration_conversions.hpp"
 #include "nav2_amcl/pf/pf.hpp"
 #include "nav2_util/string_utils.hpp"
 #include "nav2_amcl/sensors/laser/laser.hpp"

diff --git a/nav2_costmap_2d/plugins/obstacle_layer.cpp b/nav2_costmap_2d/plugins/obstacle_layer.cpp
@@ -45,6 +45,7 @@
 
 #include "pluginlib/class_list_macros.hpp"
 #include "sensor_msgs/point_cloud2_iterator.hpp"
+#include "nav2_util/duration_conversions.hpp"
 #include "nav2_costmap_2d/costmap_math.hpp"
 
 PLUGINLIB_EXPORT_CLASS(nav2_costmap_2d::ObstacleLayer, nav2_costmap_2d::Layer)
@@ -211,7 +212,7 @@ void ObstacleLayer::onInitialize()
       observation_subscribers_.push_back(sub);
 
       observation_notifiers_.push_back(filter);
-      observation_notifiers_.back()->setTolerance(rclcpp::Duration::from_seconds(0.05));
+      observation_notifiers_.back()->setTolerance(nav2_util::duration_from_seconds(0.05));
 
     } else {
       std::shared_ptr<message_filters::Subscriber<sensor_msgs::msg::PointCloud2>> sub(

diff --git a/nav2_costmap_2d/src/costmap_2d_ros.cpp b/nav2_costmap_2d/src/costmap_2d_ros.cpp
@@ -43,6 +43,7 @@
 #include <vector>
 
 #include "nav2_costmap_2d/layered_costmap.hpp"
+#include "nav2_util/duration_conversions.hpp"
 #include "nav2_util/execution_timer.hpp"
 #include "tf2_geometry_msgs/tf2_geometry_msgs.h"
 #include "nav2_util/robot_utils.hpp"
@@ -293,7 +294,7 @@ Costmap2DROS::getParameters()
 
   // 2. The map publish frequency cannot be 0 (to avoid a divde-by-zero)
   if (map_publish_frequency_ > 0) {
-    publish_cycle_ = rclcpp::Duration::from_seconds(1 / map_publish_frequency_);
+    publish_cycle_ = nav2_util::duration_from_seconds(1 / map_publish_frequency_);
   } else {
     publish_cycle_ = rclcpp::Duration(-1);
   }

diff --git a/nav2_costmap_2d/src/observation_buffer.cpp b/nav2_costmap_2d/src/observation_buffer.cpp
@@ -43,6 +43,7 @@
 
 #include "tf2/convert.h"
 #include "sensor_msgs/point_cloud2_iterator.hpp"
+#include "nav2_util/duration_conversions.hpp"
 
 namespace nav2_costmap_2d
 {
@@ -53,8 +54,8 @@ ObservationBuffer::ObservationBuffer(
   double raytrace_range, tf2_ros::Buffer & tf2_buffer, std::string global_frame,
   std::string sensor_frame, double tf_tolerance)
 : tf2_buffer_(tf2_buffer),
-  observation_keep_time_(rclcpp::Duration::from_seconds(observation_keep_time)),
-  expected_update_rate_(rclcpp::Duration::from_seconds(expected_update_rate)), nh_(nh),
+  observation_keep_time_(nav2_util::duration_from_seconds(observation_keep_time)),
+  expected_update_rate_(nav2_util::duration_from_seconds(expected_update_rate)), nh_(nh),
   last_updated_(nh->now()), global_frame_(global_frame), sensor_frame_(sensor_frame),
   topic_name_(topic_name),
   min_obstacle_height_(min_obstacle_height), max_obstacle_height_(max_obstacle_height),

diff --git a/nav2_costmap_2d/test/integration/costmap_tester.cpp b/nav2_costmap_2d/test/integration/costmap_tester.cpp
@@ -41,6 +41,7 @@
 #include "tf2_ros/transform_listener.h"
 #include "nav2_costmap_2d/costmap_2d_ros.hpp"
 #include "nav2_costmap_2d/cost_values.hpp"
+#include "nav2_util/duration_conversions.hpp"
 
 namespace nav2_costmap_2d
 {

diff --git a/nav2_dwb_controller/dwb_controller/src/progress_checker.cpp b/nav2_dwb_controller/dwb_controller/src/progress_checker.cpp
@@ -15,6 +15,7 @@
 #include "dwb_controller/progress_checker.hpp"
 #include <cmath>
 #include "dwb_core/exceptions.hpp"
+#include "nav2_util/duration_conversions.hpp"
 
 namespace dwb_controller
 {
@@ -27,7 +28,7 @@ ProgressChecker::ProgressChecker(const rclcpp::Node::SharedPtr & node)
   nh_->get_parameter_or("required_movement_radius", radius_, 0.5);
   double time_allowance_param;
   nh_->get_parameter_or("movement_time_allowance_", time_allowance_param, 10.0);
-  time_allowance_ = rclcpp::Duration::from_seconds(time_allowance_param);
+  time_allowance_ = nav2_util::duration_from_seconds(time_allowance_param);
 }
 
 void ProgressChecker::check(nav_2d_msgs::msg::Pose2DStamped & current_pose)

diff --git a/nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp b/nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp
@@ -48,6 +48,7 @@
 #include "nav_2d_utils/tf_help.hpp"
 #include "nav2_util/lifecycle_node.hpp"
 #include "pluginlib/class_list_macros.hpp"
+#include "nav2_util/duration_conversions.hpp"
 
 namespace dwb_core
 {
@@ -82,7 +83,7 @@ DWBLocalPlanner::on_configure(const rclcpp_lifecycle::State & state)
 
   double transform_tolerance;
   node_->get_parameter("transform_tolerance", transform_tolerance);
-  transform_tolerance_ = rclcpp::Duration::from_seconds(transform_tolerance);
+  transform_tolerance_ = nav2_util::duration_from_seconds(transform_tolerance);
   RCLCPP_INFO(node_->get_logger(), "Setting transform_tolerance to %f", transform_tolerance);
 
   node_->get_parameter("prune_plan", prune_plan_);

diff --git a/nav2_dwb_controller/dwb_critics/src/oscillation.cpp b/nav2_dwb_controller/dwb_critics/src/oscillation.cpp
@@ -37,6 +37,7 @@
 #include <cmath>
 #include <string>
 #include <vector>
+#include "nav2_util/duration_conversions.hpp"
 #include "nav_2d_utils/parameters.hpp"
 #include "dwb_core/exceptions.hpp"
 #include "pluginlib/class_list_macros.hpp"
@@ -93,7 +94,7 @@ void OscillationCritic::onInit()
   oscillation_reset_dist_ = nav_2d_utils::searchAndGetParam(nh_, "oscillation_reset_dist", 0.05);
   oscillation_reset_dist_sq_ = oscillation_reset_dist_ * oscillation_reset_dist_;
   oscillation_reset_angle_ = nav_2d_utils::searchAndGetParam(nh_, "oscillation_reset_angle", 0.2);
-  oscillation_reset_time_ = rclcpp::Duration::from_seconds(
+  oscillation_reset_time_ = nav2_util::duration_from_seconds(
     nav_2d_utils::searchAndGetParam(nh_, "oscillation_reset_time", -1.0));
 
   nh_->declare_parameter(name_ + ".x_only_threshold", rclcpp::ParameterValue(0.05));
@@ -173,7 +174,7 @@ bool OscillationCritic::resetAvailable()
       return true;
     }
   }
-  if (oscillation_reset_time_ >= rclcpp::Duration::from_seconds(0.0)) {
+  if (oscillation_reset_time_ >= nav2_util::duration_from_seconds(0.0)) {
     auto t_diff = (nh_->now() - prev_reset_time_);
     if (t_diff > oscillation_reset_time_) {
       return true;

diff --git a/nav2_dwb_controller/dwb_plugins/src/limited_accel_generator.cpp b/nav2_dwb_controller/dwb_plugins/src/limited_accel_generator.cpp
@@ -38,6 +38,7 @@
 #include "nav_2d_utils/parameters.hpp"
 #include "pluginlib/class_list_macros.hpp"
 #include "dwb_core/exceptions.hpp"
+#include "nav2_util/duration_conversions.hpp"
 
 namespace dwb_plugins
 {
@@ -86,7 +87,7 @@ dwb_msgs::msg::Trajectory2D LimitedAccelGenerator::generateTrajectory(
 {
   dwb_msgs::msg::Trajectory2D traj;
   traj.velocity = cmd_vel;
-  traj.duration = rclcpp::Duration::from_seconds(sim_time_);
+  traj.duration = nav2_util::duration_from_seconds(sim_time_);
   geometry_msgs::msg::Pose2D pose = start_pose;
 
   std::vector<double> steps = getTimeSteps(cmd_vel);

diff --git a/nav2_dwb_controller/dwb_plugins/src/standard_traj_generator.cpp b/nav2_dwb_controller/dwb_plugins/src/standard_traj_generator.cpp
@@ -41,6 +41,7 @@
 #include "nav_2d_utils/parameters.hpp"
 #include "pluginlib/class_list_macros.hpp"
 #include "dwb_core/exceptions.hpp"
+#include "nav2_util/duration_conversions.hpp"
 
 using nav_2d_utils::loadParameterWithDeprecation;
 
@@ -147,7 +148,7 @@ dwb_msgs::msg::Trajectory2D StandardTrajectoryGenerator::generateTrajectory(
 {
   dwb_msgs::msg::Trajectory2D traj;
   traj.velocity = cmd_vel;
-  traj.duration = rclcpp::Duration::from_seconds(sim_time_);
+  traj.duration = nav2_util::duration_from_seconds(sim_time_);
   //  simulate the trajectory
   geometry_msgs::msg::Pose2D pose = start_pose;
   nav_2d_msgs::msg::Twist2D vel = start_vel;

diff --git a/nav2_util/include/nav2_util/duration_conversions.hpp b/nav2_util/include/nav2_util/duration_conversions.hpp
@@ -0,0 +1,32 @@
+// Copyright (c) 2018 Intel Corporation
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#ifndef NAV2_UTIL__DURATION_CONVERSIONS_HPP_
+#define NAV2_UTIL__DURATION_CONVERSIONS_HPP_
+
+#include "rclcpp/rclcpp.hpp"
+
+namespace nav2_util
+{
+
+// TODO(crdelsey): This functionality should be part of the RCLCPP Duration
+// interface. Once that gets integrated, this function can be removed.
+inline rclcpp::Duration duration_from_seconds(double seconds)
+{
+  return rclcpp::Duration(static_cast<int64_t>(seconds * 1e9));    // convert to ns
+}
+
+}  // namespace nav2_util
+
+#endif  // NAV2_UTIL__DURATION_CONVERSIONS_HPP_