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Removed deprecated code #940

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18 changes: 0 additions & 18 deletions tf2_ros/include/tf2_ros/buffer.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -95,24 +95,6 @@ class Buffer : public BufferInterface, public AsyncBufferInterface, public tf2::
RequiredInterfaces node_interfaces = RequiredInterfaces(),
const rclcpp::QoS & qos = rclcpp::ServicesQoS());

/** \brief Constructor for a Buffer object
* \param clock A clock to use for time and sleeping
* \param cache_time How long to keep a history of transforms
* \param node If passed advertise the view_frames service that exposes debugging information from the buffer
* \param qos If passed change the quality of service of the frames_server_ service
*/
template<class NodeT = rclcpp::Node::SharedPtr, class AllocatorT = std::allocator<void>,
std::enable_if_t<rcpputils::is_pointer<NodeT>::value, bool> = true>
[[deprecated("Use rclcpp::node_interfaces::NodeInterfaces instead of NoteT")]]
Buffer(
rclcpp::Clock::SharedPtr clock,
tf2::Duration cache_time = tf2::Duration(tf2::BUFFER_CORE_DEFAULT_CACHE_TIME),
NodeT && node = NodeT(),
const rclcpp::QoS & qos = rclcpp::ServicesQoS())
: Buffer(clock, cache_time, *node, qos)
{
}

/** \brief Get the transform between two frames by frame ID.
* \param target_frame The frame to which data should be transformed
* \param source_frame The frame where the data originated
Expand Down
7 changes: 0 additions & 7 deletions tf2_ros/include/tf2_ros/create_timer_ros.hpp
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Expand Up @@ -63,13 +63,6 @@ class CreateTimerROS : public CreateTimerInterface
RequiredInterfaces node_interfaces,
rclcpp::CallbackGroup::SharedPtr callback_group = nullptr);

[[deprecated("Use rclcpp::node_interfaces::NodeInterfaces instead of multiple interfaces")]]
TF2_ROS_PUBLIC
CreateTimerROS(
NodeBaseInterface::SharedPtr node_base,
NodeTimersInterface::SharedPtr node_timers,
rclcpp::CallbackGroup::SharedPtr callback_group = nullptr);

virtual ~CreateTimerROS() = default;

/**
Expand Down
96 changes: 0 additions & 96 deletions tf2_ros/include/tf2_ros/message_filter.hpp
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Expand Up @@ -220,102 +220,6 @@ class MessageFilter : public MessageFilterBase, public message_filters::SimpleFi
connectInput(f);
}

/**
* \brief Constructor
*
* \param buffer The buffer this filter should use
* \param target_frame The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
* \param queue_size The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
* \param node The ros2 node to use for logging and clock operations
* \param buffer_timeout The timeout duration after requesting transforms from the buffer.
*/
template<typename TimeRepT = int64_t, typename TimeT = std::nano>
[[deprecated("Use rclcpp::node_interfaces::NodeInterfaces instead of Node::SharedPtr&")]]
MessageFilter(
BufferT & buffer, const std::string & target_frame, uint32_t queue_size,
const rclcpp::Node::SharedPtr & node,
std::chrono::duration<TimeRepT, TimeT> buffer_timeout =
std::chrono::duration<TimeRepT, TimeT>::max())
: MessageFilter(
buffer, target_frame, queue_size,
RequiredInterfaces(node->get_node_logging_interface(), node->get_node_clock_interface()),
buffer_timeout)
{
}

/**
* \brief Constructor
*
* \param buffer The buffer this filter should use
* \param target_frame The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
* \param queue_size The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
* \param node_logging The logging interface to use for any log messages
* \param node_clock The clock interface to use to get the node clock
* \param buffer_timeout The timeout duration after requesting transforms from the buffer.
*/
template<typename TimeRepT = int64_t, typename TimeT = std::nano>
[[deprecated("Use rclcpp::node_interfaces::NodeInterfaces instead of multiple interfaces")]]
MessageFilter(
BufferT & buffer, const std::string & target_frame, uint32_t queue_size,
const NodeLoggingInterface::SharedPtr & node_logging,
const NodeClockInterface::SharedPtr & node_clock,
std::chrono::duration<TimeRepT, TimeT> buffer_timeout =
std::chrono::duration<TimeRepT, TimeT>::max())
: MessageFilter(
buffer, target_frame, queue_size,
RequiredInterfaces(node_logging, node_clock), buffer_timeout)
{
}

/**
* \brief Constructor
*
* \param f The filter to connect this filter's input to. Often will be a message_filters::Subscriber.
* \param buffer The buffer this filter should use
* \param target_frame The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
* \param queue_size The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
* \param node The ros2 node to use for logging and clock operations
* \param buffer_timeout The timeout duration after requesting transforms from the buffer.
*/
template<class F, typename TimeRepT = int64_t, typename TimeT = std::nano>
[[deprecated("Use rclcpp::node_interfaces::NodeInterfaces instead of Node::SharedPtr&")]]
MessageFilter(
F & f, BufferT & buffer, const std::string & target_frame, uint32_t queue_size,
const rclcpp::Node::SharedPtr & node,
std::chrono::duration<TimeRepT, TimeT> buffer_timeout =
std::chrono::duration<TimeRepT, TimeT>::max())
: MessageFilter(
f, buffer, target_frame, queue_size,
RequiredInterfaces(node->get_node_logging_interface(), node->get_node_clock_interface()),
buffer_timeout)
{
}

/**
* \brief Constructor
*
* \param f The filter to connect this filter's input to. Often will be a message_filters::Subscriber.
* \param buffer The buffer this filter should use
* \param target_frame The frame this filter should attempt to transform to. To use multiple frames, pass an empty string here and use the setTargetFrames() function.
* \param queue_size The number of messages to queue up before throwing away old ones. 0 means infinite (dangerous).
* \param node_logging The logging interface to use for any log messages
* \param node_clock The clock interface to use to get the node clock
* \param buffer_timeout The timeout duration after requesting transforms from the buffer.
*/
template<class F, typename TimeRepT = int64_t, typename TimeT = std::nano>
[[deprecated("Use rclcpp::node_interfaces::NodeInterfaces instead of multiple interfaces")]]
MessageFilter(
F & f, BufferT & buffer, const std::string & target_frame, uint32_t queue_size,
const NodeLoggingInterface::SharedPtr & node_logging,
const NodeClockInterface::SharedPtr & node_clock,
std::chrono::duration<TimeRepT, TimeT> buffer_timeout =
std::chrono::duration<TimeRepT, TimeT>::max())
: MessageFilter(
f, buffer, target_frame, queue_size,
RequiredInterfaces(node_logging, node_clock), buffer_timeout)
{
}

/**
* \brief Connect this filter's input to another filter's output. If this filter is already connected, disconnects first.
*/
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43 changes: 0 additions & 43 deletions tf2_ros/include/tf2_ros/static_transform_broadcaster.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,6 @@
#define TF2_ROS__STATIC_TRANSFORM_BROADCASTER_HPP_

#include <memory>
#include <type_traits>
#include <vector>

#include "tf2_ros/visibility_control.hpp"
Expand All @@ -45,7 +44,6 @@
#include "rclcpp/node_interfaces/get_node_parameters_interface.hpp"
#include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rcpputils/pointer_traits.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "tf2_msgs/msg/tf_message.hpp"
#include "tf2_ros/qos.hpp"
Expand Down Expand Up @@ -85,47 +83,6 @@ class StaticTransformBroadcaster
node_parameters, node_topics, "/tf_static", qos, options);
}

/** \brief Node constructor */
template<class NodeT, class AllocatorT = std::allocator<void>,
std::enable_if_t<rcpputils::is_pointer<NodeT>::value, bool> = true>
[[deprecated("Use rclcpp::node_interfaces::NodeInterfaces instead of NodeT")]]
StaticTransformBroadcaster(
NodeT && node,
const rclcpp::QoS & qos = StaticBroadcasterQoS(),
const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = [] () {
rclcpp::PublisherOptionsWithAllocator<AllocatorT> options;
options.qos_overriding_options = rclcpp::QosOverridingOptions{
rclcpp::QosPolicyKind::Depth,
rclcpp::QosPolicyKind::History,
rclcpp::QosPolicyKind::Reliability};
return options;
} ())
: StaticTransformBroadcaster(
RequiredInterfaces(node->get_node_parameters_interface(),
node->get_node_topics_interface()), qos, options)
{
}

/** \brief Node interfaces constructor */
template<class AllocatorT = std::allocator<void>>
[[deprecated("Use rclcpp::node_interfaces::NodeInterfaces instead of multiple interfaces")]]
StaticTransformBroadcaster(
NodeParametersInterface::SharedPtr node_parameters,
NodeTopicsInterface::SharedPtr node_topics,
const rclcpp::QoS & qos = StaticBroadcasterQoS(),
const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = [] () {
rclcpp::PublisherOptionsWithAllocator<AllocatorT> options;
options.qos_overriding_options = rclcpp::QosOverridingOptions{
rclcpp::QosPolicyKind::Depth,
rclcpp::QosPolicyKind::History,
rclcpp::QosPolicyKind::Reliability};
return options;
} ())
: StaticTransformBroadcaster(
RequiredInterfaces(node_parameters, node_topics), qos, options)
{
}

/** \brief Send a TransformStamped message
* The stamped data structure includes frame_id, and time, and parent_id already. */
TF2_ROS_PUBLIC
Expand Down
44 changes: 0 additions & 44 deletions tf2_ros/include/tf2_ros/transform_broadcaster.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,6 @@
#define TF2_ROS__TRANSFORM_BROADCASTER_HPP_

#include <memory>
#include <type_traits>
#include <vector>

#include "tf2_ros/visibility_control.hpp"
Expand All @@ -45,7 +44,6 @@
#include "rclcpp/node_interfaces/get_node_parameters_interface.hpp"
#include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rcpputils/pointer_traits.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "tf2_msgs/msg/tf_message.hpp"
#include "tf2_ros/qos.hpp"
Expand Down Expand Up @@ -87,48 +85,6 @@ class TransformBroadcaster
node_parameters, node_topics, "/tf", qos, options);
}

/** \brief Node constructor */
template<class NodeT, class AllocatorT = std::allocator<void>,
std::enable_if_t<rcpputils::is_pointer<NodeT>::value, bool> = true>
[[deprecated("Use rclcpp::node_interfaces::NodeInterfaces instead of NodeT")]]
TransformBroadcaster(
NodeT && node,
const rclcpp::QoS & qos = DynamicBroadcasterQoS(),
const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = [] () {
rclcpp::PublisherOptionsWithAllocator<AllocatorT> options;
options.qos_overriding_options = rclcpp::QosOverridingOptions{
rclcpp::QosPolicyKind::Depth,
rclcpp::QosPolicyKind::Durability,
rclcpp::QosPolicyKind::History,
rclcpp::QosPolicyKind::Reliability};
return options;
} ())
: TransformBroadcaster(
RequiredInterfaces(node->get_node_parameters_interface(),
node->get_node_topics_interface()), qos, options)
{
}

/** \brief Node interfaces constructor */
template<class AllocatorT = std::allocator<void>>
[[deprecated("Use rclcpp::node_interfaces::NodeInterfaces instead of multiple interfaces")]]
TransformBroadcaster(
NodeParametersInterface::SharedPtr node_parameters,
NodeTopicsInterface::SharedPtr node_topics,
const rclcpp::QoS & qos = DynamicBroadcasterQoS(),
const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = [] () {
rclcpp::PublisherOptionsWithAllocator<AllocatorT> options;
options.qos_overriding_options = rclcpp::QosOverridingOptions{
rclcpp::QosPolicyKind::Depth,
rclcpp::QosPolicyKind::Durability,
rclcpp::QosPolicyKind::History,
rclcpp::QosPolicyKind::Reliability};
return options;
} ())
: TransformBroadcaster(RequiredInterfaces(node_parameters, node_topics), qos, options)
{
}

/** \brief Send a TransformStamped message
*
* The transform ʰTₐ added is from `child_frame_id`, `a` to `header.frame_id`,
Expand Down
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