From 152e563b910d3e8677125c3db8a85f0f0bf34082 Mon Sep 17 00:00:00 2001 From: Hubert Liberacki Date: Thu, 31 Mar 2022 17:25:33 +0200 Subject: [PATCH] Replace deprecated spin_until_future_complete with spin_until_complete Signed-off-by: Hubert Liberacki --- tf2_ros/test/test_buffer_server.cpp | 8 ++++---- tf2_tools/tf2_tools/view_frames.py | 13 +++++++------ 2 files changed, 11 insertions(+), 10 deletions(-) diff --git a/tf2_ros/test/test_buffer_server.cpp b/tf2_ros/test/test_buffer_server.cpp index 77daae936..6094f415f 100644 --- a/tf2_ros/test/test_buffer_server.cpp +++ b/tf2_ros/test/test_buffer_server.cpp @@ -175,7 +175,7 @@ TEST_F(TestBufferServer, lookup_transform_available) transform.rotation.w = 1.0; setTransform("test_target_link", "test_source_link", transform); - auto spin_result = executor_.spin_until_future_complete( + auto spin_result = executor_.spin_until_complete( result_ready_future, std::chrono::seconds(3)); ASSERT_EQ(spin_result, rclcpp::FutureReturnCode::SUCCESS); @@ -192,7 +192,7 @@ TEST_F(TestBufferServer, lookup_transform_timeout) "test_target_link", "test_source_link", std::chrono::seconds(1)); auto start_time = std::chrono::system_clock::now(); - auto spin_result = executor_.spin_until_future_complete( + auto spin_result = executor_.spin_until_complete( result_ready_future, std::chrono::seconds(3)); ASSERT_EQ(spin_result, rclcpp::FutureReturnCode::SUCCESS); auto end_time = std::chrono::system_clock::now(); @@ -213,7 +213,7 @@ TEST_F(TestBufferServer, lookup_transform_delayed) "test_target_link", "test_source_link", std::chrono::seconds(5)); // Expect executor to timeout since transform is not available yet - auto spin_result = executor_.spin_until_future_complete( + auto spin_result = executor_.spin_until_complete( result_ready_future, std::chrono::seconds(1)); EXPECT_EQ(spin_result, rclcpp::FutureReturnCode::TIMEOUT); @@ -228,7 +228,7 @@ TEST_F(TestBufferServer, lookup_transform_delayed) setTransform("test_target_link", "test_source_link", transform); // Wait some more - spin_result = executor_.spin_until_future_complete( + spin_result = executor_.spin_until_complete( result_ready_future, std::chrono::seconds(3)); ASSERT_EQ(spin_result, rclcpp::FutureReturnCode::SUCCESS); diff --git a/tf2_tools/tf2_tools/view_frames.py b/tf2_tools/tf2_tools/view_frames.py index 659617a35..fbe4896ad 100755 --- a/tf2_tools/tf2_tools/view_frames.py +++ b/tf2_tools/tf2_tools/view_frames.py @@ -48,7 +48,7 @@ def main(): parser.add_argument( '--wait-time', '-t', type=float, default=5.0, help='Listen to the /tf topic for this many seconds before rendering the frame tree') - parser.add_argument('-o','--output', help='Output filename') + parser.add_argument('-o', '--output', help='Output filename') parsed_args = parser.parse_args(args=args_without_ros[1:]) node = rclpy.create_node('view_frames') @@ -73,7 +73,7 @@ def main(): node.get_logger().info('service not available, waiting again...') future = cli.call_async(req) - rclpy.spin_until_future_complete(node, future) + rclpy.spin_until_complete(node, future) ret = 1 try: @@ -83,9 +83,9 @@ def main(): node.get_logger().error('Service call failed %r' % (e,)) else: node.get_logger().info( - 'Result:'+ str(result) ) + 'Result:' + str(result)) data = yaml.safe_load(result.frame_yaml) - + if parsed_args.output is not None: frames_gv = '{:s}.gv'.format(parsed_args.output) frames_pdf = '{:s}.pdf'.format(parsed_args.output) @@ -93,10 +93,10 @@ def main(): datetime = time.strftime('%Y-%m-%d_%H.%M.%S') frames_gv = 'frames_{:s}.gv'.format(datetime) frames_pdf = 'frames_{:s}.pdf'.format(datetime) - + with open(frames_gv, 'w') as f: f.write(generate_dot(data, node.get_clock().now().seconds_nanoseconds())) - + cmd = ['dot', '-Tpdf', frames_gv, '-o', frames_pdf] subprocess.Popen(cmd).communicate() finally: @@ -105,6 +105,7 @@ def main(): rclpy.shutdown() return ret + def generate_dot(data, recorded_time): if len(data) == 0: return 'digraph G { "No tf data received" }'