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avoid new deprecations #267

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merged 2 commits into from
Apr 23, 2020
Merged

avoid new deprecations #267

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279c017
avoid new deprecations
wjwwood Apr 22, 2020
7ae605b
avoid more deprecations
wjwwood Apr 23, 2020
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4 changes: 2 additions & 2 deletions rclcpp/actions/minimal_action_client/not_composable.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@ int main(int argc, char ** argv)
// Ask server to achieve some goal and wait until it's accepted
auto goal_handle_future = action_client->async_send_goal(goal_msg);
if (rclcpp::spin_until_future_complete(node, goal_handle_future) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
rclcpp::FutureReturnCode::SUCCESS)
{
RCLCPP_ERROR(node->get_logger(), "send goal call failed :(");
return 1;
Expand All @@ -58,7 +58,7 @@ int main(int argc, char ** argv)

RCLCPP_INFO(node->get_logger(), "Waiting for result");
if (rclcpp::spin_until_future_complete(node, result_future) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
rclcpp::FutureReturnCode::SUCCESS)
{
RCLCPP_ERROR(node->get_logger(), "get result call failed :(");
return 1;
Expand Down
10 changes: 5 additions & 5 deletions rclcpp/actions/minimal_action_client/not_composable_with_cancel.cpp
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Expand Up @@ -41,7 +41,7 @@ int main(int argc, char ** argv)
// Send goal and wait for result (registering feedback callback is optional)
auto goal_handle_future = action_client->async_send_goal(goal_msg);
if (rclcpp::spin_until_future_complete(node, goal_handle_future) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
rclcpp::FutureReturnCode::SUCCESS)
{
RCLCPP_ERROR(node->get_logger(), "send goal call failed :(");
return 1;
Expand All @@ -61,27 +61,27 @@ int main(int argc, char ** argv)
result_future,
std::chrono::seconds(3));

if (rclcpp::executor::FutureReturnCode::TIMEOUT == wait_result) {
if (rclcpp::FutureReturnCode::TIMEOUT == wait_result) {
RCLCPP_INFO(node->get_logger(), "canceling goal");
// Cancel the goal since it is taking too long
auto cancel_result_future = action_client->async_cancel_goal(goal_handle);
if (rclcpp::spin_until_future_complete(node, cancel_result_future) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
rclcpp::FutureReturnCode::SUCCESS)
{
RCLCPP_ERROR(node->get_logger(), "failed to cancel goal");
rclcpp::shutdown();
return 1;
}
RCLCPP_INFO(node->get_logger(), "goal is being canceled");
} else if (rclcpp::executor::FutureReturnCode::SUCCESS != wait_result) {
} else if (rclcpp::FutureReturnCode::SUCCESS != wait_result) {
RCLCPP_ERROR(node->get_logger(), "failed to get result");
rclcpp::shutdown();
return 1;
}

RCLCPP_INFO(node->get_logger(), "Waiting for result");
if (rclcpp::spin_until_future_complete(node, result_future) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
rclcpp::FutureReturnCode::SUCCESS)
{
RCLCPP_ERROR(node->get_logger(), "get result call failed :(");
return 1;
Expand Down
4 changes: 2 additions & 2 deletions rclcpp/actions/minimal_action_client/not_composable_with_feedback.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ int main(int argc, char ** argv)
auto goal_handle_future = action_client->async_send_goal(goal_msg, send_goal_options);

if (rclcpp::spin_until_future_complete(g_node, goal_handle_future) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
rclcpp::FutureReturnCode::SUCCESS)
{
RCLCPP_ERROR(g_node->get_logger(), "send goal call failed :(");
return 1;
Expand All @@ -72,7 +72,7 @@ int main(int argc, char ** argv)

RCLCPP_INFO(g_node->get_logger(), "Waiting for result");
if (rclcpp::spin_until_future_complete(g_node, result_future) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
rclcpp::FutureReturnCode::SUCCESS)
{
RCLCPP_ERROR(g_node->get_logger(), "get result call failed :(");
return 1;
Expand Down
8 changes: 4 additions & 4 deletions rclcpp/executors/multithreaded_executor/multithreaded_executor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -75,9 +75,9 @@ class DualThreadedNode : public rclcpp::Node
* assign callbacks to them. They're also what the executor looks for when trying to run multiple threads
*/
callback_group_subscriber1_ = this->create_callback_group(
rclcpp::callback_group::CallbackGroupType::MutuallyExclusive);
rclcpp::CallbackGroupType::MutuallyExclusive);
callback_group_subscriber2_ = this->create_callback_group(
rclcpp::callback_group::CallbackGroupType::MutuallyExclusive);
rclcpp::CallbackGroupType::MutuallyExclusive);

// Each of these callback groups is basically a thread
// Everything assigned to one of them gets bundled into the same thread
Expand Down Expand Up @@ -153,8 +153,8 @@ class DualThreadedNode : public rclcpp::Node
RCLCPP_INFO(this->get_logger(), thread_string, msg->data.c_str());
}

rclcpp::callback_group::CallbackGroup::SharedPtr callback_group_subscriber1_;
rclcpp::callback_group::CallbackGroup::SharedPtr callback_group_subscriber2_;
rclcpp::CallbackGroup::SharedPtr callback_group_subscriber1_;
rclcpp::CallbackGroup::SharedPtr callback_group_subscriber2_;
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription1_;
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscription2_;
};
Expand Down
2 changes: 1 addition & 1 deletion rclcpp/services/minimal_client/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,7 +37,7 @@ int main(int argc, char * argv[])
request->b = 1;
auto result_future = client->async_send_request(request);
if (rclcpp::spin_until_future_complete(node, result_future) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
rclcpp::FutureReturnCode::SUCCESS)
{
RCLCPP_ERROR(node->get_logger(), "service call failed :(");
return 1;
Expand Down