changes to avoid deprecated API's (#399)

Signed-off-by: William Woodall <william@osrfoundation.org>
ros2 · May 8, 2019 · cb2fb54 · cb2fb54
1 parent f99800c
commit cb2fb54
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Showing 27 changed files with 47 additions and 32 deletions.
diff --git a/rviz_common/include/rviz_common/ros_topic_display.hpp b/rviz_common/include/rviz_common/ros_topic_display.hpp
@@ -183,12 +183,15 @@ class RosTopicDisplay : public _RosTopicDisplay
     }
 
     try {
+      // TODO(wjwwood): update this class to use rclcpp::QoS.
+      auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile));
+      qos.get_rmw_qos_profile() = qos_profile;
       // TODO(anhosi,wjwwood): replace with abstraction for subscriptions once available
       subscription_ =
         rviz_ros_node_.lock()->get_raw_node()->template create_subscription<MessageType>(
         topic_property_->getTopicStd(),
-        [this](const typename MessageType::ConstSharedPtr message) {incomingMessage(message);},
-        qos_profile);
+        qos,
+        [this](const typename MessageType::ConstSharedPtr message) {incomingMessage(message);});
       setStatus(properties::StatusProperty::Ok, "Topic", "OK");
     } catch (rclcpp::exceptions::InvalidTopicNameError & e) {
       setStatus(properties::StatusProperty::Error, "Topic",

diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/camera/camera_display.cpp
@@ -279,16 +279,19 @@ void CameraDisplay::subscribe()
 void CameraDisplay::createCameraInfoSubscription()
 {
   try {
+    // TODO(wjwwood): update this class to use rclcpp::QoS.
+    auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile));
+    qos.get_rmw_qos_profile() = qos_profile;
     // TODO(anhosi,wjwwood): replace with abstraction for subscriptions one available
     caminfo_sub_ = rviz_ros_node_.lock()->get_raw_node()->
       template create_subscription<sensor_msgs::msg::CameraInfo>(
       topic_property_->getTopicStd() + "/camera_info",
+      qos,
       [this](sensor_msgs::msg::CameraInfo::ConstSharedPtr msg) {
         std::unique_lock<std::mutex> lock(caminfo_mutex_);
         current_caminfo_ = msg;
         new_caminfo_ = true;
-      },
-      qos_profile);
+      });
     setStatus(StatusLevel::Ok, CAM_INFO_STATUS, "OK");
   } catch (rclcpp::exceptions::InvalidTopicNameError & e) {
     setStatus(StatusLevel::Error, CAM_INFO_STATUS, QString("Error subscribing: ") + e.what());

diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/map/map_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/map/map_display.cpp
@@ -187,13 +187,16 @@ void MapDisplay::subscribe()
   RTDClass::subscribe();
 
   try {
+    // TODO(wjwwood): update this class to use rclcpp::QoS.
+    auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile));
+    qos.get_rmw_qos_profile() = qos_profile;
     update_subscription_ = rviz_ros_node_.lock()->get_raw_node()->
       template create_subscription<map_msgs::msg::OccupancyGridUpdate>(
       topic_property_->getTopicStd() + "_updates",
+      qos,
       [this](const map_msgs::msg::OccupancyGridUpdate::ConstSharedPtr message) {
         incomingUpdate(message);
-      },
-      qos_profile);
+      });
     setStatus(rviz_common::properties::StatusProperty::Ok, "Update Topic", "OK");
   } catch (rclcpp::exceptions::InvalidTopicNameError & e) {
     setStatus(

diff --git a/rviz_default_plugins/src/rviz_default_plugins/displays/marker/marker_display.cpp b/rviz_default_plugins/src/rviz_default_plugins/displays/marker/marker_display.cpp
@@ -74,14 +74,17 @@ void MarkerDisplay::subscribe()
 void MarkerDisplay::createMarkerArraySubscription()
 {
   try {
+    // TODO(wjwwood): update this class to use rclcpp::QoS.
+    auto qos = rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(qos_profile));
+    qos.get_rmw_qos_profile() = qos_profile;
     // TODO(anhosi,wjwwood): replace with abstraction for subscriptions one available
     array_sub_ = rviz_ros_node_.lock()->get_raw_node()->
       template create_subscription<visualization_msgs::msg::MarkerArray>(
       topic_property_->getTopicStd() + "_array",
+      qos,
       [this](visualization_msgs::msg::MarkerArray::ConstSharedPtr msg) {
         marker_common_->addMessage(msg);
-      },
-      qos_profile);
+      });
     setStatus(StatusLevel::Ok, "Array Topic", "OK");
   } catch (rclcpp::exceptions::InvalidTopicNameError & e) {
     setStatus(StatusLevel::Error, "Array Topic", QString("Error subscribing: ") + e.what());

diff --git a/rviz_default_plugins/src/rviz_default_plugins/tools/nav_goal/goal_tool.cpp b/rviz_default_plugins/src/rviz_default_plugins/tools/nav_goal/goal_tool.cpp
@@ -66,7 +66,7 @@ void GoalTool::updateTopic()
 {
   // TODO(anhosi, wjwwood): replace with abstraction for publishers once available
   publisher_ = context_->getRosNodeAbstraction().lock()->get_raw_node()->
-    template create_publisher<geometry_msgs::msg::PoseStamped>(topic_property_->getStdString());
+    template create_publisher<geometry_msgs::msg::PoseStamped>(topic_property_->getStdString(), 10);
 }
 
 void GoalTool::onPoseSet(double x, double y, double theta)

diff --git a/rviz_default_plugins/src/rviz_default_plugins/tools/point/point_tool.cpp b/rviz_default_plugins/src/rviz_default_plugins/tools/point/point_tool.cpp
@@ -80,7 +80,9 @@ void PointTool::updateTopic()
 {
   // TODO(anhosi, wjwwood): replace with abstraction for publishers once available
   publisher_ = context_->getRosNodeAbstraction().lock()->get_raw_node()->
-    template create_publisher<geometry_msgs::msg::PointStamped>(topic_property_->getStdString());
+    template create_publisher<geometry_msgs::msg::PointStamped>(
+    topic_property_->getStdString(),
+    10);
 }
 
 void PointTool::updateAutoDeactivate() {}

diff --git a/rviz_default_plugins/src/rviz_default_plugins/tools/pose_estimate/initial_pose_tool.cpp b/rviz_default_plugins/src/rviz_default_plugins/tools/pose_estimate/initial_pose_tool.cpp
@@ -65,7 +65,7 @@ void InitialPoseTool::updateTopic()
   // TODO(anhosi, wjwwood): replace with abstraction for publishers once available
   publisher_ = context_->getRosNodeAbstraction().lock()->get_raw_node()->
     template create_publisher<geometry_msgs::msg::PoseWithCovarianceStamped>(
-    topic_property_->getStdString());
+    topic_property_->getStdString(), 10);
 }
 
 void InitialPoseTool::onPoseSet(double x, double y, double theta)

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/camera_info_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/camera_info_publisher.hpp
@@ -46,7 +46,7 @@ class CameraInfoPublisher : public rclcpp::Node
   CameraInfoPublisher()
   : Node("camera_info_publisher")
   {
-    publisher = this->create_publisher<sensor_msgs::msg::CameraInfo>("/image/camera_info");
+    publisher = this->create_publisher<sensor_msgs::msg::CameraInfo>("/image/camera_info", 10);
     timer = this->create_wall_timer(500ms, std::bind(&CameraInfoPublisher::timer_callback, this));
   }
 

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/fluid_pressure_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/fluid_pressure_publisher.hpp
@@ -62,7 +62,7 @@ class FluidPressurePublisher : public rclcpp::Node
 FluidPressurePublisher::FluidPressurePublisher()
 : Node("fluid_pressure_publisher"), fluid_pressure_(0.)
 {
-  publisher_ = this->create_publisher<sensor_msgs::msg::FluidPressure>("fluid_pressure");
+  publisher_ = this->create_publisher<sensor_msgs::msg::FluidPressure>("fluid_pressure", 10);
 
   auto timer_callback =
     [this]() -> void {

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/grid_cells_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/grid_cells_publisher.hpp
@@ -49,7 +49,7 @@ class GridCellsPublisher : public rclcpp::Node
   GridCellsPublisher()
   : Node("grid_cells_publisher")
   {
-    publisher = this->create_publisher<nav_msgs::msg::GridCells>("grid_cells");
+    publisher = this->create_publisher<nav_msgs::msg::GridCells>("grid_cells", 10);
     timer = this->create_wall_timer(500ms, std::bind(&GridCellsPublisher::timer_callback, this));
   }
 

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/illuminance_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/illuminance_publisher.hpp
@@ -62,7 +62,7 @@ class IlluminancePublisher : public rclcpp::Node
 IlluminancePublisher::IlluminancePublisher()
 : Node("illuminance_publisher"), illuminance_(0.)
 {
-  publisher_ = this->create_publisher<sensor_msgs::msg::Illuminance>("illuminance");
+  publisher_ = this->create_publisher<sensor_msgs::msg::Illuminance>("illuminance", 10);
 
   auto timer_callback =
     [this]() -> void {

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/image_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/image_publisher.hpp
@@ -60,7 +60,7 @@ class ImagePublisher : public rclcpp::Node
   ImagePublisher()
   : Node("image_publisher")
   {
-    publisher = this->create_publisher<sensor_msgs::msg::Image>("image");
+    publisher = this->create_publisher<sensor_msgs::msg::Image>("image", 10);
     timer = this->create_wall_timer(100ms, std::bind(&ImagePublisher::timer_callback, this));
   }
 

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/laser_scan_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/laser_scan_publisher.hpp
@@ -52,7 +52,7 @@ class LaserScanPublisher : public rclcpp::Node
     timer_(nullptr),
     publisher_(nullptr)
   {
-    publisher_ = this->create_publisher<sensor_msgs::msg::LaserScan>("laser_scan");
+    publisher_ = this->create_publisher<sensor_msgs::msg::LaserScan>("laser_scan", 10);
     timer_ = this->create_wall_timer(500ms, std::bind(&LaserScanPublisher::timer_callback, this));
   }
 

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/map_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/map_publisher.hpp
@@ -51,7 +51,7 @@ class MapPublisher : public rclcpp::Node
   MapPublisher()
   : Node("map_publisher")
   {
-    publisher = this->create_publisher<nav_msgs::msg::OccupancyGrid>("map");
+    publisher = this->create_publisher<nav_msgs::msg::OccupancyGrid>("map", 10);
     timer = this->create_wall_timer(500ms, std::bind(&MapPublisher::timer_callback, this));
   }
 

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/marker_array_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/marker_array_publisher.hpp
@@ -57,7 +57,8 @@ class MarkerArrayPublisher : public MarkerPublisher
   MarkerArrayPublisher()
   : MarkerPublisher("marker_array_publisher")
   {
-    array_publisher_ = this->create_publisher<visualization_msgs::msg::MarkerArray>("marker_array");
+    array_publisher_ =
+      this->create_publisher<visualization_msgs::msg::MarkerArray>("marker_array", 10);
   }
 
 private:

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/marker_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/marker_publisher.hpp
@@ -56,7 +56,7 @@ class MarkerPublisher : public rclcpp::Node
   MarkerPublisher()
   : Node("marker_publisher")
   {
-    publisher_ = this->create_publisher<visualization_msgs::msg::Marker>("marker");
+    publisher_ = this->create_publisher<visualization_msgs::msg::Marker>("marker", 10);
     timer_ = this->create_wall_timer(200ms, std::bind(&MarkerPublisher::timer_callback, this));
   }
 
@@ -65,7 +65,7 @@ class MarkerPublisher : public rclcpp::Node
   : Node(node_name)
   {
     timer_ = this->create_wall_timer(200ms, std::bind(&MarkerPublisher::timer_callback, this));
-    publisher_ = this->create_publisher<visualization_msgs::msg::Marker>("marker");
+    publisher_ = this->create_publisher<visualization_msgs::msg::Marker>("marker", 10);
   }
 
 protected:

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/odometry_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/odometry_publisher.hpp
@@ -54,7 +54,7 @@ class OdometryPublisher : public rclcpp::Node
   OdometryPublisher()
   : Node("odometry_publisher")
   {
-    publisher = this->create_publisher<nav_msgs::msg::Odometry>("odometry");
+    publisher = this->create_publisher<nav_msgs::msg::Odometry>("odometry", 10);
     timer = this->create_wall_timer(200ms, std::bind(&OdometryPublisher::timer_callback, this));
   }
 

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/path_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/path_publisher.hpp
@@ -51,7 +51,7 @@ class PathPublisher : public rclcpp::Node
   PathPublisher()
   : Node("path_publisher")
   {
-    publisher = this->create_publisher<nav_msgs::msg::Path>("path");
+    publisher = this->create_publisher<nav_msgs::msg::Path>("path", 10);
     timer = this->create_wall_timer(500ms, std::bind(&PathPublisher::timer_callback, this));
   }
 

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/point_cloud2_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/point_cloud2_publisher.hpp
@@ -65,7 +65,7 @@ class PointCloud2Publisher : public rclcpp::Node
     timer_(nullptr),
     publisher_(nullptr)
   {
-    publisher_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("pointcloud2");
+    publisher_ = this->create_publisher<sensor_msgs::msg::PointCloud2>("pointcloud2", 10);
     timer_ = this->create_wall_timer(500ms, std::bind(&PointCloud2Publisher::timer_callback, this));
   }
 

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/point_cloud_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/point_cloud_publisher.hpp
@@ -64,7 +64,7 @@ class PointCloudPublisher : public rclcpp::Node
     publisher_(nullptr),
     points_(points)
   {
-    publisher_ = this->create_publisher<sensor_msgs::msg::PointCloud>("pointcloud");
+    publisher_ = this->create_publisher<sensor_msgs::msg::PointCloud>("pointcloud", 10);
     timer_ = this->create_wall_timer(500ms, std::bind(&PointCloudPublisher::timer_callback, this));
   }
 

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/point_stamped_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/point_stamped_publisher.hpp
@@ -47,7 +47,7 @@ class PointStampedPublisher : public rclcpp::Node
   PointStampedPublisher()
   : Node("point_publisher")
   {
-    publisher = this->create_publisher<geometry_msgs::msg::PointStamped>("point");
+    publisher = this->create_publisher<geometry_msgs::msg::PointStamped>("point", 10);
     timer = this->create_wall_timer(
       500ms, std::bind(&PointStampedPublisher::timer_callback, this));
   }

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/pose_array_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/pose_array_publisher.hpp
@@ -47,7 +47,7 @@ class PoseArrayPublisher : public rclcpp::Node
   PoseArrayPublisher()
   : Node("pose_array_publisher")
   {
-    publisher = this->create_publisher<geometry_msgs::msg::PoseArray>("pose_array");
+    publisher = this->create_publisher<geometry_msgs::msg::PoseArray>("pose_array", 10);
     timer = this->create_wall_timer(500ms, std::bind(&PoseArrayPublisher::timer_callback, this));
   }
 

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/pose_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/pose_publisher.hpp
@@ -47,7 +47,7 @@ class PosePublisher : public rclcpp::Node
   PosePublisher()
   : Node("pose_publisher")
   {
-    publisher = this->create_publisher<geometry_msgs::msg::PoseStamped>("pose");
+    publisher = this->create_publisher<geometry_msgs::msg::PoseStamped>("pose", 10);
     timer = this->create_wall_timer(500ms, std::bind(&PosePublisher::timer_callback, this));
   }
 

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/range_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/range_publisher.hpp
@@ -50,7 +50,7 @@ class RangePublisher : public rclcpp::Node
   RangePublisher()
   : Node("range_publisher")
   {
-    publisher = this->create_publisher<sensor_msgs::msg::Range>("range");
+    publisher = this->create_publisher<sensor_msgs::msg::Range>("range", 10);
     timer = this->create_wall_timer(500ms, std::bind(&RangePublisher::timer_callback, this));
   }
 

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/relative_humidity_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/relative_humidity_publisher.hpp
@@ -62,7 +62,7 @@ class RelativeHumidityPublisher : public rclcpp::Node
 RelativeHumidityPublisher::RelativeHumidityPublisher()
 : Node("relative_humidity_publisher"), relative_humidity_(0.)
 {
-  publisher_ = this->create_publisher<sensor_msgs::msg::RelativeHumidity>("relative_humidity");
+  publisher_ = this->create_publisher<sensor_msgs::msg::RelativeHumidity>("relative_humidity", 10);
 
   auto timer_callback =
     [this]() -> void {

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/single_marker_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/single_marker_publisher.hpp
@@ -54,7 +54,7 @@ class SingleMarkerPublisher : public rclcpp::Node
   SingleMarkerPublisher()
   : Node("marker_publisher")
   {
-    publisher = this->create_publisher<visualization_msgs::msg::Marker>("marker");
+    publisher = this->create_publisher<visualization_msgs::msg::Marker>("marker", 10);
     timer = this->create_wall_timer(200ms, std::bind(&SingleMarkerPublisher::timer_callback, this));
   }
 

diff --git a/rviz_default_plugins/test/rviz_default_plugins/publishers/temperature_publisher.hpp b/rviz_default_plugins/test/rviz_default_plugins/publishers/temperature_publisher.hpp
@@ -62,7 +62,7 @@ class TemperaturePublisher : public rclcpp::Node
 TemperaturePublisher::TemperaturePublisher()
 : Node("temperature_publisher"), temperature_(0.)
 {
-  publisher_ = this->create_publisher<sensor_msgs::msg::Temperature>("temperature");
+  publisher_ = this->create_publisher<sensor_msgs::msg::Temperature>("temperature", 10);
 
   auto timer_callback =
     [this]() -> void {