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Replace deprecated spin_until_future_complete #512

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hliberacki wants to merge 2 commits into from
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Replace deprecated spin_until_future_complete #512

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152e563
Replace deprecated spin_until_future_complete with spin_until_complete
hliberacki Mar 31, 2022
a563330
Merge branch 'ros2:ros2' into hliberacki/spin_until
hliberacki Jun 3, 2022
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8 changes: 4 additions & 4 deletions tf2_ros/test/test_buffer_server.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);

Expand All @@ -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();
Expand All @@ -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);

Expand All @@ -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);

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13 changes: 7 additions & 6 deletions tf2_tools/tf2_tools/view_frames.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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')
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parsed_args = parser.parse_args(args=args_without_ros[1:])

node = rclpy.create_node('view_frames')
Expand All @@ -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:
Expand All @@ -83,20 +83,20 @@ def main():
node.get_logger().error('Service call failed %r' % (e,))
else:
node.get_logger().info(
'Result:'+ str(result) )
'Result:' + str(result))
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data = yaml.safe_load(result.frame_yaml)

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if parsed_args.output is not None:
frames_gv = '{:s}.gv'.format(parsed_args.output)
frames_pdf = '{:s}.pdf'.format(parsed_args.output)
else:
datetime = time.strftime('%Y-%m-%d_%H.%M.%S')
frames_gv = 'frames_{:s}.gv'.format(datetime)
frames_pdf = 'frames_{:s}.pdf'.format(datetime)

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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:
Expand All @@ -105,6 +105,7 @@ def main():
rclpy.shutdown()
return ret


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def generate_dot(data, recorded_time):
if len(data) == 0:
return 'digraph G { "No tf data received" }'
Expand Down