Deprecate non-stamped twist for tricycle_controller and steering_controllers

diff_drive_controller/doc/userdoc.rst

@@ -46,7 +46,7 @@ Subscribers
 ,,,,,,,,,,,,
 
 ~/cmd_vel [geometry_msgs/msg/TwistStamped]
-  Velocity command for the controller, if ``use_stamped_vel=true``. The controller extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored.
+  Velocity command for the controller. The controller extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored.
 
 
 Publishers

steering_controllers_library/doc/userdoc.rst

@@ -13,7 +13,7 @@ Nomenclature used for the controller is used from `wikipedia <https://en.wikiped
 Execution logic of the controller
 ----------------------------------
 
-The controller uses velocity input, i.e., stamped or unstamped Twist messages where linear ``x`` and angular ``z`` components are used.
+The controller uses velocity input, i.e., stamped Twist messages where linear ``x`` and angular ``z`` components are used.
 Angular component under
 Values in other components are ignored.
 In the chain mode the controller provides two reference interfaces, one for linear velocity and one for steering angle position.
@@ -74,9 +74,6 @@ Subscribers
 Used when controller is not in chained mode (``in_chained_mode == false``).
 
 - <controller_name>/reference  [geometry_msgs/msg/TwistStamped]
-  If parameter ``use_stamped_vel`` is ``true``.
-- <controller_name>/reference_unstamped   [geometry_msgs/msg/Twist]
-  If parameter ``use_stamped_vel`` is ``false``.
 
 Publishers
 ,,,,,,,,,,,

steering_controllers_library/src/steering_controllers_library.cpp

@@ -116,6 +116,9 @@ controller_interface::CallbackReturn SteeringControllersLibrary::on_configure(
   ref_timeout_ = rclcpp::Duration::from_seconds(params_.reference_timeout);
   if (params_.use_stamped_vel)
   {
+    RCLCPP_WARN(
+      get_node()->get_logger(),
+      "[Deprecated] Using geometry_msgs::msg::Twist instead of TwistStamped is deprecated.");
     ref_subscriber_twist_ = get_node()->create_subscription<ControllerTwistReferenceMsg>(
       "~/reference", subscribers_qos,
       std::bind(&SteeringControllersLibrary::reference_callback, this, std::placeholders::_1));

steering_controllers_library/src/steering_controllers_library.yaml

@@ -116,7 +116,7 @@ steering_controllers_library:
   use_stamped_vel: {
     type: bool,
     default_value: false,
-    description: "Choice of vel type, if use_stamped_vel is false then ``geometry_msgs::msg::Twist`` is taken as vel msg type, if
+    description: "(Deprecated) Choice of vel type, if use_stamped_vel is false then ``geometry_msgs::msg::Twist`` is taken as vel msg type, if
     use_stamped_vel is true then ``geometry_msgs::msg::TwistStamped`` is taken as vel msg type",
     read_only: false,
   }

tricycle_controller/doc/userdoc.rst

@@ -10,14 +10,6 @@ Controller for mobile robots with a single double-actuated wheel, including trac
 Input for control are robot base_link twist commands which are translated to traction and steering
 commands for the tricycle drive base. Odometry is computed from hardware feedback and published.
 
-Velocity commands
------------------
-
-The controller works with a velocity twist from which it extracts
-the x component of the linear velocity and the z component of the angular velocity.
-Velocities on other components are ignored.
-
-
 Other features
 --------------
 
@@ -26,6 +18,16 @@ Other features
     Velocity, acceleration and jerk limits
     Automatic stop after command timeout
 
+ROS 2 Interfaces
+------------------------
+
+Subscribers
+,,,,,,,,,,,,
+
+~/cmd_vel [geometry_msgs/msg/TwistStamped]
+  Velocity command for the controller. The controller extracts the x component of the linear velocity and the z component of the angular velocity. Velocities on other components are ignored.
+
+
 Parameters
 --------------
 

tricycle_controller/src/tricycle_controller.cpp

@@ -316,6 +316,9 @@ CallbackReturn TricycleController::on_configure(const rclcpp_lifecycle::State &
   }
   else
   {
+    RCLCPP_WARN(
+      get_node()->get_logger(),
+      "[Deprecated] Using geometry_msgs::msg::Twist instead of TwistStamped is deprecated.");
     velocity_command_unstamped_subscriber_ = get_node()->create_subscription<Twist>(
       DEFAULT_COMMAND_TOPIC, rclcpp::SystemDefaultsQoS(),
       [this](const std::shared_ptr<Twist> msg) -> void

tricycle_controller/src/tricycle_controller_parameter.yaml

@@ -81,7 +81,7 @@ tricycle_controller:
   use_stamped_vel: {
     type: bool,
     default_value: true,
-    description: "Use stamp from input velocity message to calculate how old the command actually is.",
+    description: "(deprecated) Use stamp from input velocity message to calculate how old the command actually is.",
   }
   traction:
     # "The positive limit will be applied to both directions. Setting different limits for positive "

tricycle_controller/test/config/test_tricycle_controller.yaml

@@ -5,7 +5,6 @@ test_tricycle_controller:
     steering_joint_name: steering_joint
     wheel_radius: 0.125
     wheelbase: 1.252
-    use_stamped_vel: false
     enable_odom_tf: false
     use_sim_time: false
     pose_covariance_diagonal: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]