Remove time related changes

Signed-off-by: Luca Della Vedova <lucadv@intrinsic.ai>
ros2-rust · Oct 5, 2023 · 7f0d86a · 7f0d86a
1 parent ccc91e9
commit 7f0d86a
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Showing 10 changed files with 11 additions and 529 deletions.
diff --git a/rclrs/Cargo.toml b/rclrs/Cargo.toml
@@ -20,8 +20,6 @@ ament_rs = { version = "0.2", optional = true }
 futures = "0.3"
 # Needed for dynamic messages
 libloading = { version = "0.8", optional = true }
-# Needed for /clock topic subscription when using simulation time
-rosgraph_msgs = "*"
 # Needed for the Message trait, among others
 rosidl_runtime_rs = "0.3"
 

diff --git a/rclrs/package.xml b/rclrs/package.xml
@@ -18,7 +18,6 @@
   <build_depend>rcl</build_depend>
   <depend>builtin_interfaces</depend>
   <depend>rcl_interfaces</depend>
-  <depend>rosgraph_msgs</depend>
 
   <export>
     <build_type>ament_cargo</build_type>

diff --git a/rclrs/src/clock.rs b/rclrs/src/clock.rs
diff --git a/rclrs/src/lib.rs b/rclrs/src/lib.rs
@@ -7,7 +7,6 @@
 
 mod arguments;
 mod client;
-mod clock;
 mod context;
 mod error;
 mod executor;
@@ -17,8 +16,6 @@ mod publisher;
 mod qos;
 mod service;
 mod subscription;
-mod time;
-mod time_source;
 mod vendor;
 mod wait;
 
@@ -32,7 +29,6 @@ use std::time::Duration;
 
 pub use arguments::*;
 pub use client::*;
-pub use clock::*;
 pub use context::*;
 pub use error::*;
 pub use executor::*;
@@ -43,8 +39,6 @@ pub use qos::*;
 pub use rcl_bindings::rmw_request_id_t;
 pub use service::*;
 pub use subscription::*;
-pub use time::*;
-use time_source::*;
 pub use wait::*;
 
 /// Polls the node for new messages and executes the corresponding callbacks.
@@ -86,7 +80,7 @@ pub fn spin(node: Arc<Node>) -> Result<(), RclrsError> {
 /// # Ok::<(), RclrsError>(())
 /// ```
 pub fn create_node(context: &Context, node_name: &str) -> Result<Arc<Node>, RclrsError> {
-    Node::new(context, node_name)
+    Ok(Arc::new(Node::new(context, node_name)?))
 }
 
 /// Creates a [`NodeBuilder`][1].

diff --git a/rclrs/src/node.rs b/rclrs/src/node.rs
@@ -13,9 +13,9 @@ pub use self::builder::*;
 pub use self::graph::*;
 use crate::rcl_bindings::*;
 use crate::{
-    Client, ClientBase, Clock, Context, Declarable, GuardCondition, ParameterBuilder,
-    ParameterInterface, ParameterVariant, Parameters, Publisher, QoSProfile, RclrsError, Service,
-    ServiceBase, Subscription, SubscriptionBase, SubscriptionCallback, TimeSource, ToResult,
+    Client, ClientBase, Context, Declarable, GuardCondition, ParameterBuilder, ParameterInterface,
+    ParameterVariant, Parameters, Publisher, QoSProfile, RclrsError, Service, ServiceBase,
+    Subscription, SubscriptionBase, SubscriptionCallback, ToResult,
 };
 
 impl Drop for rcl_node_t {
@@ -72,7 +72,6 @@ pub struct Node {
     pub(crate) services_mtx: Mutex<Vec<Weak<dyn ServiceBase>>>,
     pub(crate) subscriptions_mtx: Mutex<Vec<Weak<dyn SubscriptionBase>>>,
     _parameter: ParameterInterface,
-    _time_source: TimeSource,
 }
 
 impl Eq for Node {}
@@ -96,15 +95,10 @@ impl Node {
     ///
     /// See [`NodeBuilder::new()`] for documentation.
     #[allow(clippy::new_ret_no_self)]
-    pub fn new(context: &Context, node_name: &str) -> Result<Arc<Node>, RclrsError> {
+    pub fn new(context: &Context, node_name: &str) -> Result<Node, RclrsError> {
         Self::builder(context, node_name).build()
     }
 
-    /// Returns the clock associated with this node.
-    pub fn get_clock(&self) -> Clock {
-        self._time_source.get_clock()
-    }
-
     /// Returns the name of the node.
     ///
     /// This returns the name after remapping, so it is not necessarily the same as the name that