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Remove Deprecated Declaration #1884

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merged 2 commits into from
Jul 23, 2020
Merged

Remove Deprecated Declaration #1884

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27dab76
Remove deprecated rclcpp::executor::FutureReturnCode::SUCCESS in favo…
allenh1 Jul 23, 2020
c518620
Update nav2_util/include/nav2_util/service_client.hpp
allenh1 Jul 23, 2020
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2 changes: 1 addition & 1 deletion nav2_lifecycle_manager/src/lifecycle_manager_client.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -88,7 +88,7 @@ LifecycleManagerClient::is_active(const std::chrono::nanoseconds timeout)
auto future_result = is_active_client_->async_send_request(request);

if (rclcpp::spin_until_future_complete(node_, future_result, timeout) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
rclcpp::FutureReturnCode::SUCCESS)
{
return SystemStatus::TIMEOUT;
}
Expand Down
2 changes: 1 addition & 1 deletion nav2_recoveries/test/test_recoveries.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -157,7 +157,7 @@ class RecoveryTest : public ::testing::Test
auto future_goal = client_->async_send_goal(goal);

if (rclcpp::spin_until_future_complete(node_lifecycle_, future_goal) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
rclcpp::FutureReturnCode::SUCCESS)
{
std::cout << "failed sending goal" << std::endl;
// failed sending the goal
Expand Down
8 changes: 4 additions & 4 deletions nav2_rviz_plugins/src/nav2_panel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -410,7 +410,7 @@ Nav2Panel::onCancelButtonPressed()
waypoint_follower_action_client_->async_cancel_goal(waypoint_follower_goal_handle_);

if (rclcpp::spin_until_future_complete(client_node_, future_cancel) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
rclcpp::FutureReturnCode::SUCCESS)
{
RCLCPP_ERROR(client_node_->get_logger(), "Failed to cancel waypoint follower");
return;
Expand All @@ -419,7 +419,7 @@ Nav2Panel::onCancelButtonPressed()
auto future_cancel = navigation_action_client_->async_cancel_goal(navigation_goal_handle_);

if (rclcpp::spin_until_future_complete(client_node_, future_cancel) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
rclcpp::FutureReturnCode::SUCCESS)
{
RCLCPP_ERROR(client_node_->get_logger(), "Failed to cancel goal");
return;
Expand Down Expand Up @@ -523,7 +523,7 @@ Nav2Panel::startWaypointFollowing(std::vector<geometry_msgs::msg::PoseStamped> p
auto future_goal_handle =
waypoint_follower_action_client_->async_send_goal(waypoint_follower_goal_, send_goal_options);
if (rclcpp::spin_until_future_complete(client_node_, future_goal_handle) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
rclcpp::FutureReturnCode::SUCCESS)
{
RCLCPP_ERROR(client_node_->get_logger(), "Send goal call failed");
return;
Expand Down Expand Up @@ -563,7 +563,7 @@ Nav2Panel::startNavigation(geometry_msgs::msg::PoseStamped pose)
auto future_goal_handle =
navigation_action_client_->async_send_goal(navigation_goal_, send_goal_options);
if (rclcpp::spin_until_future_complete(client_node_, future_goal_handle) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
rclcpp::FutureReturnCode::SUCCESS)
{
RCLCPP_ERROR(client_node_->get_logger(), "Send goal call failed");
return;
Expand Down
4 changes: 2 additions & 2 deletions nav2_system_tests/src/recoveries/backup/backup_recovery_tester.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -131,7 +131,7 @@ bool BackupRecoveryTester::defaultBackupRecoveryTest(
auto goal_handle_future = client_ptr_->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 false;
Expand All @@ -148,7 +148,7 @@ bool BackupRecoveryTester::defaultBackupRecoveryTest(

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 false;
Expand Down
4 changes: 2 additions & 2 deletions nav2_system_tests/src/recoveries/spin/spin_recovery_tester.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -129,7 +129,7 @@ bool SpinRecoveryTester::defaultSpinRecoveryTest(
auto goal_handle_future = client_ptr_->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 false;
Expand All @@ -146,7 +146,7 @@ bool SpinRecoveryTester::defaultSpinRecoveryTest(

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 false;
Expand Down
4 changes: 2 additions & 2 deletions nav2_system_tests/src/recoveries/wait/wait_recovery_tester.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -123,7 +123,7 @@ bool WaitRecoveryTester::recoveryTest(
auto goal_handle_future = client_ptr_->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 false;
Expand All @@ -140,7 +140,7 @@ bool WaitRecoveryTester::recoveryTest(

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 false;
Expand Down
4 changes: 2 additions & 2 deletions nav2_util/include/nav2_util/service_client.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,7 +70,7 @@ class ServiceClient
auto future_result = client_->async_send_request(request);

if (rclcpp::spin_until_future_complete(node_, future_result, timeout) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
rclcpp::FutureReturnCode::SUCCESS)
{
throw std::runtime_error(service_name_ + " service client: async_send_request failed");
}
Expand Down Expand Up @@ -98,7 +98,7 @@ class ServiceClient
auto future_result = client_->async_send_request(request);

if (rclcpp::spin_until_future_complete(node_, future_result) !=
rclcpp::executor::FutureReturnCode::SUCCESS)
rclcpp::FutureReturnCode::SUCCESS)
{
return false;
}
Expand Down
32 changes: 16 additions & 16 deletions nav2_util/test/test_actions.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -245,15 +245,15 @@ TEST_F(ActionTest, test_simple_action)
EXPECT_EQ(
rclcpp::spin_until_future_complete(
node_,
future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);

auto goal_handle = future_goal_handle.get();

// Wait for the result
auto future_result = node_->action_client_->async_get_result(goal_handle);
EXPECT_EQ(
rclcpp::spin_until_future_complete(node_, future_result),
rclcpp::executor::FutureReturnCode::SUCCESS);
rclcpp::FutureReturnCode::SUCCESS);

// The final result
rclcpp_action::ClientGoalHandle<Fibonacci>::WrappedResult result = future_result.get();
Expand Down Expand Up @@ -293,7 +293,7 @@ TEST_F(ActionTest, test_simple_action_with_feedback)
EXPECT_EQ(
rclcpp::spin_until_future_complete(
node_,
future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);

auto goal_handle = future_goal_handle.get();

Expand All @@ -302,7 +302,7 @@ TEST_F(ActionTest, test_simple_action_with_feedback)
EXPECT_EQ(
rclcpp::spin_until_future_complete(
node_,
future_result), rclcpp::executor::FutureReturnCode::SUCCESS);
future_result), rclcpp::FutureReturnCode::SUCCESS);

// The final result
rclcpp_action::ClientGoalHandle<Fibonacci>::WrappedResult result = future_result.get();
Expand Down Expand Up @@ -334,7 +334,7 @@ TEST_F(ActionTest, test_simple_action_activation_cycling)
EXPECT_EQ(
rclcpp::spin_until_future_complete(
node_,
future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);

// Deactivate while running
node_->deactivate_server();
Expand All @@ -345,7 +345,7 @@ TEST_F(ActionTest, test_simple_action_activation_cycling)
auto future_result = node_->action_client_->async_get_result(goal_handle);
EXPECT_EQ(
rclcpp::spin_until_future_complete(node_, future_result),
rclcpp::executor::FutureReturnCode::SUCCESS);
rclcpp::FutureReturnCode::SUCCESS);

// The action should be reported as aborted.
EXPECT_EQ(future_result.get().code, rclcpp_action::ResultCode::ABORTED);
Expand All @@ -361,7 +361,7 @@ TEST_F(ActionTest, test_simple_action_activation_cycling)
EXPECT_EQ(
rclcpp::spin_until_future_complete(
node_,
future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);

goal_handle = future_goal_handle.get();

Expand All @@ -370,7 +370,7 @@ TEST_F(ActionTest, test_simple_action_activation_cycling)
std::cout << "Getting result, spinning til complete..." << std::endl;
EXPECT_EQ(
rclcpp::spin_until_future_complete(node_, future_result),
rclcpp::executor::FutureReturnCode::SUCCESS);
rclcpp::FutureReturnCode::SUCCESS);

// Now the action should have been successfully executed.
EXPECT_EQ(future_result.get().code, rclcpp_action::ResultCode::SUCCEEDED);
Expand All @@ -391,7 +391,7 @@ TEST_F(ActionTest, test_simple_action_preemption)
EXPECT_EQ(
rclcpp::spin_until_future_complete(
node_,
future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);

// Preempt the goal
auto preemption_goal = Fibonacci::Goal();
Expand All @@ -403,7 +403,7 @@ TEST_F(ActionTest, test_simple_action_preemption)
EXPECT_EQ(
rclcpp::spin_until_future_complete(
node_,
future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);

auto goal_handle = future_goal_handle.get();

Expand All @@ -412,7 +412,7 @@ TEST_F(ActionTest, test_simple_action_preemption)
std::cout << "Getting result, spinning til complete..." << std::endl;
EXPECT_EQ(
rclcpp::spin_until_future_complete(node_, future_result),
rclcpp::executor::FutureReturnCode::SUCCESS);
rclcpp::FutureReturnCode::SUCCESS);

// The final result
rclcpp_action::ClientGoalHandle<Fibonacci>::WrappedResult result = future_result.get();
Expand Down Expand Up @@ -442,15 +442,15 @@ TEST_F(ActionTest, test_simple_action_preemption_after_succeeded)
EXPECT_EQ(
rclcpp::spin_until_future_complete(
node_,
future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);

node_->omit_server_preemptions();

auto future_preempt_handle = node_->action_client_->async_send_goal(preemption);
EXPECT_EQ(
rclcpp::spin_until_future_complete(
node_,
future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);

// Get the results
auto goal_handle = future_goal_handle.get();
Expand All @@ -459,7 +459,7 @@ TEST_F(ActionTest, test_simple_action_preemption_after_succeeded)
auto future_result = node_->action_client_->async_get_result(goal_handle);
EXPECT_EQ(
rclcpp::spin_until_future_complete(node_, future_result),
rclcpp::executor::FutureReturnCode::SUCCESS);
rclcpp::FutureReturnCode::SUCCESS);

// The final result
rclcpp_action::ClientGoalHandle<Fibonacci>::WrappedResult result = future_result.get();
Expand All @@ -480,7 +480,7 @@ TEST_F(ActionTest, test_simple_action_preemption_after_succeeded)
future_result = node_->action_client_->async_get_result(goal_handle);
ASSERT_EQ(
rclcpp::spin_until_future_complete(node_, future_result),
rclcpp::executor::FutureReturnCode::SUCCESS);
rclcpp::FutureReturnCode::SUCCESS);

// The final result
result = future_result.get();
Expand All @@ -507,7 +507,7 @@ TEST_F(ActionTest, test_handle_goal_deactivated)
EXPECT_EQ(
rclcpp::spin_until_future_complete(
node_,
future_goal_handle), rclcpp::executor::FutureReturnCode::SUCCESS);
future_goal_handle), rclcpp::FutureReturnCode::SUCCESS);

node_->activate_server();

Expand Down