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Remove constructors arguments deprecated since Foxy #190

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merged 5 commits into from
Oct 27, 2020
Merged

Remove constructors arguments deprecated since Foxy #190

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236af66
Make name and namespace mandatory in ComposableNodeContainer, remove …
ivanpauno Oct 20, 2020
4777102
Remove deprecated node_* arguments
ivanpauno Oct 20, 2020
2165ec1
fix test
ivanpauno Oct 27, 2020
ae47d02
Delete invalid test case
ivanpauno Oct 27, 2020
d3cf216
flake8
ivanpauno Oct 27, 2020
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31 changes: 2 additions & 29 deletions launch_ros/launch_ros/actions/composable_node_container.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,6 @@

from typing import List
from typing import Optional
import warnings

from launch.action import Action
from launch.launch_context import LaunchContext
Expand All @@ -33,10 +32,8 @@ class ComposableNodeContainer(Node):
def __init__(
self,
*,
name: Optional[SomeSubstitutionsType] = None,
namespace: Optional[SomeSubstitutionsType] = None,
node_name: Optional[SomeSubstitutionsType] = None,
node_namespace: Optional[SomeSubstitutionsType] = None,
name: SomeSubstitutionsType,
namespace: SomeSubstitutionsType,
composable_node_descriptions: Optional[List[ComposableNode]] = None,
**kwargs
) -> None:
Expand All @@ -46,35 +43,11 @@ def __init__(
Most arguments are forwarded to :class:`launch_ros.actions.Node`, so see the documentation
of that class for further details.

.. deprecated:: Foxy
Parameters `node_name` and `node_namespace` are deprecated.
Use `name` and `namespace` instead.

:param: name the name of the node, mandatory for full container node name resolution
:param: namespace the ROS namespace for this Node, mandatory for full container node
name resolution
:param: node_name (DEPRECATED) the name of the node, mandatory for full container node
name resolution
:param: node_namespace (DEPRECATED) the ros namespace for this Node, mandatory for full
container node name resolution
:param composable_node_descriptions: optional descriptions of composable nodes to be loaded
"""
if node_name is not None:
warnings.warn("The parameter 'node_name' is deprecated, use 'name' instead")
if name is not None:
raise RuntimeError(
"Passing both 'node_name' and 'name' parameters. Only use 'name'."
)
name = node_name
if node_namespace is not None:
warnings.warn("The parameter 'node_namespace' is deprecated, use 'namespace' instead")
if namespace is not None:
raise RuntimeError(
"Passing both 'node_namespace' and 'namespace' parameters. "
"Only use 'namespace'."
)
namespace = node_namespace

super().__init__(name=name, namespace=namespace, **kwargs)
self.__composable_node_descriptions = composable_node_descriptions

Expand Down
18 changes: 1 addition & 17 deletions launch_ros/launch_ros/actions/lifecycle_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,6 @@
from typing import cast
from typing import List
from typing import Optional
import warnings

import launch
from launch import SomeSubstitutionsType
Expand All @@ -42,9 +41,8 @@ class LifecycleNode(Node):
def __init__(
self,
*,
name: Optional[SomeSubstitutionsType] = None,
name: SomeSubstitutionsType,
namespace: SomeSubstitutionsType,
node_name: Optional[SomeSubstitutionsType] = None,
**kwargs
) -> None:
"""
Expand All @@ -70,24 +68,10 @@ def __init__(
one, or even all lifecycle nodes, and it requests the targeted nodes
to change state, see its documentation for more details.

.. deprecated:: Foxy
The parameter `node_name` is deprecated, use `name` instead.

:param name: The name of the lifecycle node.
Although it defaults to None it is a required parameter and the default will be removed
in a future release.
:param node_name: (DEPRECATED) The name fo the lifecycle node.
"""
if node_name is not None:
warnings.warn("The parameter 'node_name' is deprecated, use 'name' instead")
if name is not None:
raise RuntimeError(
"Passing both 'node_name' and 'name' parameters. Only use 'name'."
)
name = node_name
# TODO(jacobperron): Remove default value and this check when deprecated API is removed
if name is None:
raise RuntimeError("'name' must not be None.'")
super().__init__(name=name, namespace=namespace, **kwargs)
self.__logger = launch.logging.get_logger(__name__)
self.__rclpy_subscription = None
Expand Down
44 changes: 0 additions & 44 deletions launch_ros/launch_ros/actions/node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -25,8 +25,6 @@
from typing import Tuple # noqa: F401
from typing import Union

import warnings

from launch.action import Action
from launch.actions import ExecuteProcess
from launch.frontend import Entity
Expand Down Expand Up @@ -72,12 +70,9 @@ class Node(ExecuteProcess):
def __init__(
self, *,
executable: Optional[SomeSubstitutionsType] = None,
jacobperron marked this conversation as resolved.
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node_executable: Optional[SomeSubstitutionsType] = None,
package: Optional[SomeSubstitutionsType] = None,
name: Optional[SomeSubstitutionsType] = None,
namespace: Optional[SomeSubstitutionsType] = None,
node_name: Optional[SomeSubstitutionsType] = None,
node_namespace: SomeSubstitutionsType = None,
exec_name: Optional[SomeSubstitutionsType] = None,
parameters: Optional[SomeParameters] = None,
remappings: Optional[SomeRemapRules] = None,
Expand Down Expand Up @@ -131,39 +126,19 @@ def __init__(
passed in in order to the node (where the last definition of a
parameter takes effect).

.. deprecated:: Foxy
Parameters `node_executable`, `node_name`, and `node_namespace` are deprecated.
Use `executable`, `name`, and `namespace` instead.

:param: executable the name of the executable to find if a package
is provided or otherwise a path to the executable to run.
:param: node_executable (DEPRECATED) the name of the executable to find if a package
is provided or otherwise a path to the executable to run.
:param: package the package in which the node executable can be found
:param: name the name of the node
:param: namespace the ROS namespace for this Node
:param: exec_name the label used to represent the process.
Defaults to the basename of node executable.
:param: node_name (DEPRECATED) the name of the node
:param: node_namespace (DEPRECATED) the ros namespace for this Node
:param: parameters list of names of yaml files with parameter rules,
or dictionaries of parameters.
:param: remappings ordered list of 'to' and 'from' string pairs to be
passed to the node as ROS remapping rules
:param: arguments list of extra arguments for the node
"""
if node_executable is not None:
warnings.warn(
"The parameter 'node_executable' is deprecated, use 'executable' instead",
stacklevel=2
)
if executable is not None:
raise RuntimeError(
"Passing both 'node_executable' and 'executable' parameters. "
"Only use 'executable'"
)
executable = node_executable

if package is not None:
cmd = [ExecutableInPackage(package=package, executable=executable)]
else:
Expand All @@ -172,28 +147,9 @@ def __init__(
# Reserve space for ros specific arguments.
# The substitutions will get expanded when the action is executed.
cmd += ['--ros-args'] # Prepend ros specific arguments with --ros-args flag
if node_name is not None:
warnings.warn(
"The parameter 'node_name' is deprecated, use 'name' instead",
stacklevel=2)
if name is not None:
raise RuntimeError(
"Passing both 'node_name' and 'name' parameters. Only use 'name'."
)
cmd += ['-r', LocalSubstitution(
"ros_specific_arguments['name']", description='node name')]
name = node_name
if name is not None:
cmd += ['-r', LocalSubstitution(
"ros_specific_arguments['name']", description='node name')]
if node_namespace:
warnings.warn("The parameter 'node_namespace' is deprecated, use 'namespace' instead")
if namespace:
raise RuntimeError(
"Passing both 'node_namespace' and 'namespace' parameters. "
"Only use 'namespace'."
)
namespace = node_namespace
if parameters is not None:
ensure_argument_type(parameters, (list), 'parameters', 'Node')
# All elements in the list are paths to files with parameters (or substitutions that
Expand Down
36 changes: 0 additions & 36 deletions launch_ros/launch_ros/descriptions/composable_node.py
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Original file line number Diff line number Diff line change
Expand Up @@ -16,7 +16,6 @@

from typing import List
from typing import Optional
import warnings

from launch.some_substitutions_type import SomeSubstitutionsType
from launch.substitution import Substitution
Expand All @@ -39,56 +38,21 @@ def __init__(
plugin: Optional[SomeSubstitutionsType] = None,
name: Optional[SomeSubstitutionsType] = None,
namespace: Optional[SomeSubstitutionsType] = None,
node_plugin: Optional[SomeSubstitutionsType] = None,
node_name: Optional[SomeSubstitutionsType] = None,
node_namespace: Optional[SomeSubstitutionsType] = None,
parameters: Optional[SomeParameters] = None,
remappings: Optional[SomeRemapRules] = None,
extra_arguments: Optional[SomeParameters] = None,
) -> None:
"""
Initialize a ComposableNode description.

.. deprecated:: Foxy
Parameters `node_plugin`, `node_name`, and `node_namespace` are deprecated.
Use `plugin`, `name`, and `namespace` instead.

:param package: name of the ROS package the node plugin lives in
:param plugin: name of the plugin to be loaded
:param name: name to give to the ROS node
:param namespace: namespace to give to the ROS node
:param node_plugin: (DEPRECATED) name of the plugin to be loaded
:param node_name: (DEPRECATED) name the node should have
:param node_namespace: (DEPRECATED) namespace the node should create topics/services/etc in
:param parameters: list of either paths to yaml files or dictionaries of parameters
:param remappings: list of from/to pairs for remapping names
:param extra_arguments: container specific arguments to be passed to the loaded node
"""
if node_plugin is not None:
warnings.warn("The parameter 'node_plugin' is deprecated, use 'plugin' instead")
if plugin is not None:
raise RuntimeError(
"Passing both 'node_plugin' and 'plugin' parameters. Only use 'plugin'."
)
plugin = node_plugin
if plugin is None:
raise RuntimeError("The 'plugin' parameter is required")
if node_name is not None:
warnings.warn("The parameter 'node_name' is deprecated, use 'name' instead")
if name is not None:
raise RuntimeError(
"Passing both 'node_name' and 'name' parameters. Only use 'name'."
)
name = node_name
if node_namespace is not None:
warnings.warn("The parameter 'node_namespace' is deprecated, use 'namespace' instead")
if namespace is not None:
raise RuntimeError(
"Passing both 'node_namespace' and 'namespace' parameters. "
"Only use 'namespace'."
)
namespace = node_namespace

self.__package = normalize_to_list_of_substitutions(package)
self.__node_plugin = normalize_to_list_of_substitutions(plugin)

Expand Down