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Merge pull request #606 from nobleo/fix/galactic

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rclcpp::executor is deprecated
This commit is contained in:
matlabbe
2021-07-09 09:12:49 -04:00
committed by GitHub
parent bbc953484c 63b9a57946
commit ef6daed716
5 changed files with 10 additions and 9 deletions
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include/rtabmap_ros/GuiWrapper.h
+1
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@@ -30,6 +30,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#include <rtabmap_ros/visibility.h> #include <rtabmap_ros/visibility.h>
#include <rclcpp/rclcpp.hpp> #include <rclcpp/rclcpp.hpp>
#include <rclcpp/executor.hpp>
#include "rtabmap_ros/msg/info.hpp" #include "rtabmap_ros/msg/info.hpp"
#include "rtabmap_ros/msg/map_data.hpp" #include "rtabmap_ros/msg/map_data.hpp"
#include "rtabmap_ros/msg/odom_info.hpp" #include "rtabmap_ros/msg/odom_info.hpp"
include/rtabmap_ros/PreferencesDialogROS.h
+1
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@@ -29,6 +29,7 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
#define PREFERENCESDIALOGROS_H_ #define PREFERENCESDIALOGROS_H_
#include <rclcpp/rclcpp.hpp> #include <rclcpp/rclcpp.hpp>
#include <rclcpp/executor.hpp>
#include <rtabmap/gui/PreferencesDialog.h> #include <rtabmap/gui/PreferencesDialog.h>
using namespace rtabmap; using namespace rtabmap;
src/GuiWrapper.cpp
+5 -5
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@@ -238,7 +238,7 @@ bool GuiWrapper::callEmptyService(const std::string & name)
auto result_future = client->async_send_request(request); auto result_future = client->async_send_request(request);
auto node = rclcpp::Node::make_shared("rtabmapviz"); auto node = rclcpp::Node::make_shared("rtabmapviz");
if (rclcpp::spin_until_future_complete(node, result_future) != if (rclcpp::spin_until_future_complete(node, result_future) !=
rclcpp::executor::FutureReturnCode::SUCCESS) rclcpp::FutureReturnCode::SUCCESS)
{ {
RCLCPP_ERROR(this->get_logger(), RCLCPP_ERROR(this->get_logger(),
"Can't call \"%s\" service.", name.c_str()); "Can't call \"%s\" service.", name.c_str());
@@ -267,7 +267,7 @@ bool GuiWrapper::callMapDataService(const std::string & name, bool global, bool
request->graph_only = graphOnly; request->graph_only = graphOnly;
auto result_future = client->async_send_request(request); auto result_future = client->async_send_request(request);
auto node = rclcpp::Node::make_shared("rtabmapviz"); auto node = rclcpp::Node::make_shared("rtabmapviz");
if (rclcpp::spin_until_future_complete(node, result_future) != rclcpp::executor::FutureReturnCode::SUCCESS) if (rclcpp::spin_until_future_complete(node, result_future) != rclcpp::FutureReturnCode::SUCCESS)
{ {
RCLCPP_ERROR(this->get_logger(), "Service \"%s\" failed to get the data.", name.c_str()); RCLCPP_ERROR(this->get_logger(), "Service \"%s\" failed to get the data.", name.c_str());
} }
@@ -317,7 +317,7 @@ bool GuiWrapper::handleEvent(UEvent * anEvent)
auto results = client->set_parameters(rosParameters); auto results = client->set_parameters(rosParameters);
// Wait for the results. // Wait for the results.
if (rclcpp::spin_until_future_complete(node, results, std::chrono::seconds(5)) != if (rclcpp::spin_until_future_complete(node, results, std::chrono::seconds(5)) !=
rclcpp::executor::FutureReturnCode::SUCCESS) rclcpp::FutureReturnCode::SUCCESS)
{ {
RCLCPP_ERROR(this->get_logger(), "Failed to set rtabmap parameters!"); RCLCPP_ERROR(this->get_logger(), "Failed to set rtabmap parameters!");
} }
@@ -410,7 +410,7 @@ bool GuiWrapper::handleEvent(UEvent * anEvent)
auto result_future = client->async_send_request(request); auto result_future = client->async_send_request(request);
auto node = rclcpp::Node::make_shared("rtabmapviz"); auto node = rclcpp::Node::make_shared("rtabmapviz");
if (rclcpp::spin_until_future_complete(node, result_future) != if (rclcpp::spin_until_future_complete(node, result_future) !=
rclcpp::executor::FutureReturnCode::SUCCESS) rclcpp::FutureReturnCode::SUCCESS)
{ {
RCLCPP_ERROR(this->get_logger(), "Can't call \"set_goal\" service."); RCLCPP_ERROR(this->get_logger(), "Can't call \"set_goal\" service.");
} }
@@ -453,7 +453,7 @@ bool GuiWrapper::handleEvent(UEvent * anEvent)
auto result_future = client->async_send_request(request); auto result_future = client->async_send_request(request);
auto node = rclcpp::Node::make_shared("rtabmapviz"); auto node = rclcpp::Node::make_shared("rtabmapviz");
if (rclcpp::spin_until_future_complete(node, result_future) != if (rclcpp::spin_until_future_complete(node, result_future) !=
rclcpp::executor::FutureReturnCode::SUCCESS) rclcpp::FutureReturnCode::SUCCESS)
{ {
RCLCPP_ERROR(this->get_logger(), "Can't call \"set_label\" service."); RCLCPP_ERROR(this->get_logger(), "Can't call \"set_label\" service.");
} }
src/PreferencesDialogROS.cpp
+1 -2
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@@ -136,7 +136,7 @@ bool PreferencesDialogROS::readCoreSettings(const QString & filePath)
{ {
auto parameters = client->get_parameters(rosParameters); auto parameters = client->get_parameters(rosParameters);
if (rclcpp::spin_until_future_complete(node, parameters, std::chrono::seconds(5)) == if (rclcpp::spin_until_future_complete(node, parameters, std::chrono::seconds(5)) ==
rclcpp::executor::FutureReturnCode::SUCCESS) rclcpp::FutureReturnCode::SUCCESS)
{ {
for (auto & parameter : parameters.get()) { for (auto & parameter : parameters.get()) {
const std::string & key = parameter.get_name(); const std::string & key = parameter.get_name();
@@ -191,4 +191,3 @@ void PreferencesDialogROS::writeCoreSettings(const QString & filePath) const
} }
} }
} }
src/rviz/MapCloudDisplay.cpp
+2 -2
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@@ -506,7 +506,7 @@ void MapCloudDisplay::downloadMap()
request->optimized = true; request->optimized = true;
request->graph_only = false; request->graph_only = false;
auto result_future = client->async_send_request(request); auto result_future = client->async_send_request(request);
if (rclcpp::spin_until_future_complete(node, result_future) != rclcpp::executor::FutureReturnCode::SUCCESS) if (rclcpp::spin_until_future_complete(node, result_future) != rclcpp::FutureReturnCode::SUCCESS)
{ {
RCLCPP_ERROR(node->get_logger(), "Service \"get_map_data\" failed to get the data."); RCLCPP_ERROR(node->get_logger(), "Service \"get_map_data\" failed to get the data.");
} }
@@ -573,7 +573,7 @@ void MapCloudDisplay::downloadGraph()
request->optimized = true; request->optimized = true;
request->graph_only = true; request->graph_only = true;
auto result_future = client->async_send_request(request); auto result_future = client->async_send_request(request);
if (rclcpp::spin_until_future_complete(node, result_future) != rclcpp::executor::FutureReturnCode::SUCCESS) if (rclcpp::spin_until_future_complete(node, result_future) != rclcpp::FutureReturnCode::SUCCESS)
{ {
RCLCPP_ERROR(node->get_logger(), "Service \"get_map_data\" failed to get the data."); RCLCPP_ERROR(node->get_logger(), "Service \"get_map_data\" failed to get the data.");
} }