nav2_util::duration_from_seconds -> rclcpp::Duration::from_seconds (#…

…1048)

* nav2_util::duration_from_seconds -> rclcpp::Duration::from_seconds

* Update nav2_costmap_2d/plugins/static_layer.cpp

oops!

Co-Authored-By: Carl Delsey <carl.r.delsey@intel.com>

nav2_amcl/src/amcl_node.cpp

@@ -30,7 +30,6 @@
 
 #include "message_filters/subscriber.h"
 #include "nav2_util/angleutils.hpp"
-#include "nav2_util/duration_conversions.hpp"
 #include "nav2_util/pf/pf.hpp"
 #include "nav2_util/string_utils.hpp"
 #include "nav2_util/sensors/laser/laser.hpp"

nav2_costmap_2d/plugins/obstacle_layer.cpp

@@ -45,7 +45,6 @@
 
 #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)
@@ -212,7 +211,7 @@ void ObstacleLayer::onInitialize()
       observation_subscribers_.push_back(sub);
 
       observation_notifiers_.push_back(filter);
-      observation_notifiers_.back()->setTolerance(nav2_util::duration_from_seconds(0.05));
+      observation_notifiers_.back()->setTolerance(rclcpp::Duration::from_seconds(0.05));
 
     } else {
       std::shared_ptr<message_filters::Subscriber<sensor_msgs::msg::PointCloud2>> sub(

nav2_costmap_2d/src/costmap_2d_ros.cpp

@@ -43,7 +43,6 @@
 #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 "tf2_ros/create_timer_ros.h"
@@ -299,7 +298,7 @@ Costmap2DROS::getParameters()
 
   // 2. The map publish frequency cannot be 0 (to avoid a divde-by-zero)
   if (map_publish_frequency_ > 0) {
-    publish_cycle_ = nav2_util::duration_from_seconds(1 / map_publish_frequency_);
+    publish_cycle_ = rclcpp::Duration::from_seconds(1 / map_publish_frequency_);
   } else {
     publish_cycle_ = rclcpp::Duration(-1);
   }

nav2_costmap_2d/test/integration/costmap_tester.cpp

@@ -41,7 +41,6 @@
 #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
 {

nav2_dwb_controller/dwb_controller/src/progress_checker.cpp

@@ -15,7 +15,6 @@
 #include "dwb_controller/progress_checker.hpp"
 #include <cmath>
 #include "dwb_core/exceptions.hpp"
-#include "nav2_util/duration_conversions.hpp"
 
 namespace dwb_controller
 {
@@ -28,7 +27,7 @@ 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_ = nav2_util::duration_from_seconds(time_allowance_param);
+  time_allowance_ = rclcpp::Duration::from_seconds(time_allowance_param);
 }
 
 void ProgressChecker::check(nav_2d_msgs::msg::Pose2DStamped & current_pose)

nav2_dwb_controller/dwb_core/src/dwb_local_planner.cpp

@@ -48,7 +48,6 @@
 #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
 {
@@ -83,7 +82,7 @@ DWBLocalPlanner::on_configure(const rclcpp_lifecycle::State & state)
 
   double transform_tolerance;
   node_->get_parameter("transform_tolerance", transform_tolerance);
-  transform_tolerance_ = nav2_util::duration_from_seconds(transform_tolerance);
+  transform_tolerance_ = rclcpp::Duration::from_seconds(transform_tolerance);
   RCLCPP_INFO(node_->get_logger(), "Setting transform_tolerance to %f", transform_tolerance);
 
   node_->get_parameter("prune_plan", prune_plan_);

nav2_dwb_controller/dwb_critics/src/oscillation.cpp

@@ -37,7 +37,6 @@
 #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"
@@ -94,7 +93,7 @@ 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_ = nav2_util::duration_from_seconds(
+  oscillation_reset_time_ = rclcpp::Duration::from_seconds(
     nav_2d_utils::searchAndGetParam(nh_, "oscillation_reset_time", -1.0));
 
   nh_->declare_parameter(name_ + ".x_only_threshold", rclcpp::ParameterValue(0.05));
@@ -174,7 +173,7 @@ bool OscillationCritic::resetAvailable()
       return true;
     }
   }
-  if (oscillation_reset_time_ >= nav2_util::duration_from_seconds(0.0)) {
+  if (oscillation_reset_time_ >= rclcpp::Duration::from_seconds(0.0)) {
     auto t_diff = (nh_->now() - prev_reset_time_);
     if (t_diff > oscillation_reset_time_) {
       return true;

nav2_dwb_controller/dwb_plugins/src/limited_accel_generator.cpp

@@ -38,7 +38,6 @@
 #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
 {
@@ -87,7 +86,7 @@ dwb_msgs::msg::Trajectory2D LimitedAccelGenerator::generateTrajectory(
 {
   dwb_msgs::msg::Trajectory2D traj;
   traj.velocity = cmd_vel;
-  traj.duration = nav2_util::duration_from_seconds(sim_time_);
+  traj.duration = rclcpp::Duration::from_seconds(sim_time_);
   geometry_msgs::msg::Pose2D pose = start_pose;
 
   std::vector<double> steps = getTimeSteps(cmd_vel);

nav2_dwb_controller/dwb_plugins/src/standard_traj_generator.cpp

@@ -41,7 +41,6 @@
 #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;
 
@@ -148,7 +147,7 @@ dwb_msgs::msg::Trajectory2D StandardTrajectoryGenerator::generateTrajectory(
 {
   dwb_msgs::msg::Trajectory2D traj;
   traj.velocity = cmd_vel;
-  traj.duration = nav2_util::duration_from_seconds(sim_time_);
+  traj.duration = rclcpp::Duration::from_seconds(sim_time_);
   //  simulate the trajectory
   geometry_msgs::msg::Pose2D pose = start_pose;
   nav_2d_msgs::msg::Twist2D vel = start_vel;