[utilities] switch from deprecating policies

resolves #186
splintered-reality · Jan 1, 2023 · c7b051d · c7b051d
1 parent 9b801a5
commit c7b051d
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Showing 3 changed files with 25 additions and 26 deletions.
diff --git a/.devcontainer/Dockerfile b/.devcontainer/Dockerfile
@@ -21,24 +21,24 @@ ARG NAME=ros-${ROS_DISTRO}
 # NB: Installing debs here for now to expedite testing of the
 # devcontainer configuration (esp. for qt, X11).
 #
-RUN apt-get update && apt-get install -y --no-install-recommends \
+RUN apt-get update && apt-get install -y --no-install-recommends
     # Dot
-    python3-pydot \
+    # python3-pydot \
     # Qt
-    libqt5webkit5 \
-    pyqt5-dev-tools \
-    python3-pyqt5 \
+    # libqt5webkit5 \
+    # pyqt5-dev-tools \
+    # python3-pyqt5 \
     # Other
-    qttools5-dev-tools \
-    libpyside2-dev \
-    libshiboken2-dev \
-    pyqt5-dev \
-    python3-pyqt5.qtsvg \
-    python3-pyside2.qtsvg \
-    python3-sip-dev \
-    shiboken2 \
-    python3-pyqt5.qtwebengine \
-    python3-mypy
+    # qttools5-dev-tools \
+    # libpyside2-dev \
+    # libshiboken2-dev \
+    # pyqt5-dev \
+    # python3-pyqt5.qtsvg \
+    # python3-pyside2.qtsvg \
+    # python3-sip-dev \
+    # shiboken2 \
+    # python3-pyqt5.qtwebengine \
+    # python3-mypy
 
 ################################################################################
 # Login Shells for Debugging & Development

diff --git a/.devcontainer/devcontainer.json b/.devcontainer/devcontainer.json
@@ -1,23 +1,22 @@
-// https://github.com/ierturk/qt-qml-ai-collection/blob/master/.devcontainer/devcontainer.json
 {
     "name": "py_trees_ros",
 
     "build": {
         "dockerfile": "./Dockerfile",
         "args": {
             "NAME": "py_trees_ros",
-            "ROS_DISTRO": "foxy"
+            "ROS_DISTRO": "humble"
         },
         "context": ".."
     },
 	"extensions": [
 		"ms-python.python"
-	],    
+	],
     "remoteUser": "zen",
     "workspaceMount": "source=${localWorkspaceFolder}/../..,target=/workspace,type=bind",
     "workspaceFolder": "/workspace",
-    // Qt Configuration - assumes the host has an Xorg server, you may need a different
-    // configuration for e.g. Wayland
+    // Qt Configuration - assumes the host has an Xorg server, you
+    // may need a different configuration for e.g. Wayland.
     "containerEnv": {
         "DISPLAY": "${localEnv:DISPLAY}",
         "QT_DEBUG_PLUGINS": "1"

diff --git a/py_trees_ros/utilities.py b/py_trees_ros/utilities.py
@@ -161,10 +161,10 @@ def qos_profile_latched():
     Convenience retrieval for a latched topic (publisher / subscriber)
     """
     return rclpy.qos.QoSProfile(
-        history=rclpy.qos.QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST,
+        history=rclpy.qos.QoSHistoryPolicy.KEEP_LAST,
         depth=1,
-        durability=rclpy.qos.QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_TRANSIENT_LOCAL,
-        reliability=rclpy.qos.QoSReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_RELIABLE
+        durability=rclpy.qos.QoSDurabilityPolicy.TRANSIENT_LOCAL,
+        reliability=rclpy.qos.QoSReliabilityPolicy.RELIABLE
     )
 
 
@@ -173,10 +173,10 @@ def qos_profile_unlatched():
     Default profile for an unlatched topic (in py_trees_ros).
     """
     return rclpy.qos.QoSProfile(
-        history=rclpy.qos.QoSHistoryPolicy.RMW_QOS_POLICY_HISTORY_KEEP_LAST,
+        history=rclpy.qos.QoSHistoryPolicy.KEEP_LAST,
         depth=1,
-        durability=rclpy.qos.QoSDurabilityPolicy.RMW_QOS_POLICY_DURABILITY_VOLATILE,
-        reliability=rclpy.qos.QoSReliabilityPolicy.RMW_QOS_POLICY_RELIABILITY_RELIABLE
+        durability=rclpy.qos.QoSDurabilityPolicy.VOLATILE,
+        reliability=rclpy.qos.QoSReliabilityPolicy.RELIABLE
     )