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Remove deprecated code as of Lunar #1211

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merged 3 commits into from
Nov 21, 2018
Merged

Remove deprecated code as of Lunar #1211

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99e88ea
Remove deprecated code as of Lunar
davetcoleman Nov 21, 2018
46da198
fixup
rhaschke Nov 21, 2018
35f75f3
add migration note
rhaschke Nov 21, 2018
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2 changes: 1 addition & 1 deletion .travis.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ env:
- ROS_DISTRO=melodic ROS_REPO=ros UPSTREAM_WORKSPACE=moveit.rosinstall
- ROS_DISTRO=kinetic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=moveit.rosinstall

matrix: # Add a separate config to the matrix, using clang as comiler
matrix: # Add a separate config to the matrix, using clang as compiler
include:
- env: ROS_DISTRO=melodic ROS_REPO=ros-shadow-fixed UPSTREAM_WORKSPACE=moveit.rosinstall
compiler: clang
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1 change: 1 addition & 0 deletions MIGRATION.md
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Expand Up @@ -8,6 +8,7 @@ API changes in MoveIt! releases
- The move_group capability ``ExecuteTrajectoryServiceCapability`` has been removed in favor of the improved ``ExecuteTrajectoryActionCapability`` capability. Since Indigo, both capabilities were supported. If you still load default capabilities in your ``config/launch/move_group.launch``, you can just remove them from the capabilities parameter. The correct default capabilities will be loaded automatically.
- Deprecated method ``CurrentStateMonitor::waitForCurrentState(double wait_time)`` was finally removed.
- Renamed ``RobotState::getCollisionBodyTransforms`` to ``getCollisionBodyTransform`` as it returns a single transform only.
- Remove deprecated class MoveGroup (was renamed to MoveGroupInterface).

## ROS Kinetic

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63 changes: 0 additions & 63 deletions .../planning_interface/move_group_interface/include/moveit/move_group_interface/move_group.h
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16 changes: 1 addition & 15 deletions moveit_ros/planning_interface/move_group_interface/src/wrap_python_move_group.cpp
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Expand Up @@ -522,17 +522,6 @@ class MoveGroupInterfaceWrapper : protected py_bindings_tools::ROScppInitializer
}
};

class MoveGroupWrapper : public MoveGroupInterfaceWrapper
{
public:
MoveGroupWrapper(const std::string& group_name, const std::string& robot_description, const std::string& ns = "")
: MoveGroupInterfaceWrapper(group_name, robot_description, ns)
{
ROS_WARN("The MoveGroup class is deprecated and will be removed in ROS lunar. Please use MoveGroupInterface "
"instead.");
}
};

static void wrap_move_group_interface()
{
bp::class_<MoveGroupInterfaceWrapper, boost::noncopyable> MoveGroupInterfaceClass(
Expand Down Expand Up @@ -650,7 +639,7 @@ static void wrap_move_group_interface()
MoveGroupInterfaceClass.def("set_max_velocity_scaling_factor",
&MoveGroupInterfaceWrapper::setMaxVelocityScalingFactor);
MoveGroupInterfaceClass.def("set_max_acceleration_scaling_factor",
&MoveGroupWrapper::setMaxAccelerationScalingFactor);
&MoveGroupInterfaceWrapper::setMaxAccelerationScalingFactor);
MoveGroupInterfaceClass.def("set_planner_id", &MoveGroupInterfaceWrapper::setPlannerId);
MoveGroupInterfaceClass.def("set_num_planning_attempts", &MoveGroupInterfaceWrapper::setNumPlanningAttempts);
MoveGroupInterfaceClass.def("compute_plan", &MoveGroupInterfaceWrapper::getPlanPython);
Expand All @@ -664,9 +653,6 @@ static void wrap_move_group_interface()
MoveGroupInterfaceClass.def("get_named_targets", &MoveGroupInterfaceWrapper::getNamedTargetsPython);
MoveGroupInterfaceClass.def("get_named_target_values", &MoveGroupInterfaceWrapper::getNamedTargetValuesPython);
MoveGroupInterfaceClass.def("get_current_state_bounded", &MoveGroupInterfaceWrapper::getCurrentStateBoundedPython);

bp::class_<MoveGroupWrapper, bp::bases<MoveGroupInterfaceWrapper>, boost::noncopyable> MoveGroupClass(
"MoveGroup", bp::init<std::string, std::string>());
}
}
}
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