Removed deprecation warnings

Signed-off-by: Alejandro Hernández Cordero <[email protected]>
ros-perception · Jun 26, 2024 · 5415b82 · 5415b82
1 parent bc5cab9
commit 5415b82
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Showing 13 changed files with 42 additions and 30 deletions.
diff --git a/depth_image_proc/src/disparity.cpp b/depth_image_proc/src/disparity.cpp
@@ -116,7 +116,8 @@ DisparityNode::DisparityNode(const rclcpp::NodeOptions & options)
         std::string topic = node_base->resolve_topic_or_service_name("left/image_rect", false);
         image_transport::TransportHints hints(this);
         sub_depth_image_.subscribe(this, topic, hints.getTransport());
-        sub_info_.subscribe(this, "right/camera_info");
+        sub_info_.subscribe(this, "right/camera_info",
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)));
       }
     };
   pub_disparity_ = create_publisher<stereo_msgs::msg::DisparityImage>(

diff --git a/depth_image_proc/src/point_cloud_xyzi.cpp b/depth_image_proc/src/point_cloud_xyzi.cpp
@@ -108,7 +108,8 @@ PointCloudXyziNode::PointCloudXyziNode(const rclcpp::NodeOptions & options)
         // intensity uses normal ros transport hints.
         image_transport::TransportHints hints(this, "raw");
         sub_intensity_.subscribe(this, intensity_topic, hints.getTransport());
-        sub_info_.subscribe(this, intensity_info_topic);
+        sub_info_.subscribe(this, intensity_info_topic,
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)));
       }
     };
   pub_point_cloud_ = create_publisher<PointCloud>("points", rclcpp::SensorDataQoS(), pub_options);

diff --git a/depth_image_proc/src/point_cloud_xyzi_radial.cpp b/depth_image_proc/src/point_cloud_xyzi_radial.cpp
@@ -103,7 +103,8 @@ PointCloudXyziRadialNode::PointCloudXyziRadialNode(const rclcpp::NodeOptions & o
         // intensity uses normal ros transport hints.
         image_transport::TransportHints hints(this);
         sub_intensity_.subscribe(this, intensity_topic, hints.getTransport());
-        sub_info_.subscribe(this, intensity_info_topic);
+        sub_info_.subscribe(this, intensity_info_topic,
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)));
       }
     };
   pub_point_cloud_ = create_publisher<sensor_msgs::msg::PointCloud2>(

diff --git a/depth_image_proc/src/point_cloud_xyzrgb.cpp b/depth_image_proc/src/point_cloud_xyzrgb.cpp
@@ -133,8 +133,10 @@ PointCloudXyzrgbNode::PointCloudXyzrgbNode(const rclcpp::NodeOptions & options)
         image_transport::TransportHints hints(this);
         sub_rgb_.subscribe(
           this, rgb_topic,
-          hints.getTransport(), rmw_qos_profile_default, sub_opts);
-        sub_info_.subscribe(this, rgb_info_topic);
+          hints.getTransport(),
+          rmw_qos_profile_default, sub_opts);
+        sub_info_.subscribe(this, rgb_info_topic,
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)));
       }
     };
   pub_point_cloud_ = create_publisher<PointCloud2>("points", rclcpp::SensorDataQoS(), pub_options);

diff --git a/depth_image_proc/src/point_cloud_xyzrgb_radial.cpp b/depth_image_proc/src/point_cloud_xyzrgb_radial.cpp
@@ -118,7 +118,8 @@ PointCloudXyzrgbRadialNode::PointCloudXyzrgbRadialNode(const rclcpp::NodeOptions
         // rgb uses normal ros transport hints.
         image_transport::TransportHints hints(this, "raw");
         sub_rgb_.subscribe(this, rgb_topic, hints.getTransport());
-        sub_info_.subscribe(this, rgb_info_topic);
+        sub_info_.subscribe(this, rgb_info_topic,
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)));
       }
     };
   pub_point_cloud_ = create_publisher<PointCloud2>("points", rclcpp::SensorDataQoS(), pub_options);

diff --git a/depth_image_proc/src/register.cpp b/depth_image_proc/src/register.cpp
@@ -139,8 +139,10 @@ RegisterNode::RegisterNode(const rclcpp::NodeOptions & options)
         std::string topic = node_base->resolve_topic_or_service_name("depth/image_rect", false);
         image_transport::TransportHints hints(this, "raw", "depth_image_transport");
         sub_depth_image_.subscribe(this, topic, hints.getTransport());
-        sub_depth_info_.subscribe(this, "depth/camera_info");
-        sub_rgb_info_.subscribe(this, "rgb/camera_info");
+        sub_depth_info_.subscribe(this, "depth/camera_info",
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)));
+        sub_rgb_info_.subscribe(this, "rgb/camera_info",
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)));
       }
     };
   // For compressed topics to remap appropriately, we need to pass a

diff --git a/image_view/include/image_view/disparity_view_node.hpp b/image_view/include/image_view/disparity_view_node.hpp
@@ -30,10 +30,8 @@ class DisparityViewNode
 {
 public:
   explicit DisparityViewNode(const rclcpp::NodeOptions & options);
-  explicit DisparityViewNode(const DisparityViewNode &) = default;
-  explicit DisparityViewNode(DisparityViewNode &&) = default;
-  DisparityViewNode & operator=(const DisparityViewNode &) = default;
-  DisparityViewNode & operator=(DisparityViewNode &&) = default;
+  explicit DisparityViewNode(const DisparityViewNode &) = delete;
+  explicit DisparityViewNode(DisparityViewNode &&) = delete;
   ~DisparityViewNode();
 
 private:

diff --git a/image_view/include/image_view/image_view_node.hpp b/image_view/include/image_view/image_view_node.hpp
@@ -48,10 +48,10 @@ class ImageViewNode
 {
 public:
   explicit ImageViewNode(const rclcpp::NodeOptions & options);
-  explicit ImageViewNode(const ImageViewNode &) = default;
-  explicit ImageViewNode(ImageViewNode &&) = default;
-  ImageViewNode & operator=(const ImageViewNode &) = default;
-  ImageViewNode & operator=(ImageViewNode &&) = default;
+  explicit ImageViewNode(const ImageViewNode &) = delete;
+  explicit ImageViewNode(ImageViewNode &&) = delete;
+  ImageViewNode & operator=(const ImageViewNode &) = delete;
+  ImageViewNode & operator=(ImageViewNode &&) = delete;
   ~ImageViewNode();
 
 private:

diff --git a/image_view/include/image_view/stereo_view_node.hpp b/image_view/include/image_view/stereo_view_node.hpp
@@ -77,10 +77,10 @@ class StereoViewNode
 {
 public:
   explicit StereoViewNode(const rclcpp::NodeOptions & options);
-  explicit StereoViewNode(const StereoViewNode &) = default;
-  explicit StereoViewNode(StereoViewNode &&) = default;
-  StereoViewNode & operator=(const StereoViewNode &) = default;
-  StereoViewNode & operator=(StereoViewNode &&) = default;
+  explicit StereoViewNode(const StereoViewNode &) = delete;
+  explicit StereoViewNode(StereoViewNode &&) = delete;
+  StereoViewNode & operator=(const StereoViewNode &) = delete;
+  StereoViewNode & operator=(StereoViewNode &&) = delete;
   ~StereoViewNode();
 
 private:

diff --git a/image_view/include/image_view/video_recorder_node.hpp b/image_view/include/image_view/video_recorder_node.hpp
@@ -30,10 +30,10 @@ class VideoRecorderNode
 {
 public:
   explicit VideoRecorderNode(const rclcpp::NodeOptions & options);
-  explicit VideoRecorderNode(const VideoRecorderNode &) = default;
-  explicit VideoRecorderNode(VideoRecorderNode &&) = default;
-  VideoRecorderNode & operator=(const VideoRecorderNode &) = default;
-  VideoRecorderNode & operator=(VideoRecorderNode &&) = default;
+  explicit VideoRecorderNode(const VideoRecorderNode &) = delete;
+  explicit VideoRecorderNode(VideoRecorderNode &&) = delete;
+  VideoRecorderNode & operator=(const VideoRecorderNode &) = delete;
+  VideoRecorderNode & operator=(VideoRecorderNode &&) = delete;
   ~VideoRecorderNode();
 
 private:

diff --git a/image_view/src/stereo_view_node.cpp b/image_view/src/stereo_view_node.cpp
@@ -130,7 +130,8 @@ StereoViewNode::StereoViewNode(const rclcpp::NodeOptions & options)
   // Subscribe to three input topics.
   left_sub_.subscribe(this, left_topic, hints.getTransport());
   right_sub_.subscribe(this, right_topic, hints.getTransport());
-  disparity_sub_.subscribe(this, disparity_topic);
+  disparity_sub_.subscribe(this, disparity_topic,
+    rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(rmw_qos_profile_default)));
 
   RCLCPP_INFO(
     this->get_logger(),

diff --git a/stereo_image_proc/src/stereo_image_proc/disparity_node.cpp b/stereo_image_proc/src/stereo_image_proc/disparity_node.cpp
@@ -326,10 +326,12 @@ DisparityNode::DisparityNode(const rclcpp::NodeOptions & options)
 
         sub_l_image_.subscribe(
           this, left_topic, hints.getTransport(), sensor_data_qos, sub_opts);
-        sub_l_info_.subscribe(this, left_info_topic, sensor_data_qos, sub_opts);
+        sub_l_info_.subscribe(this, left_info_topic,
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(sensor_data_qos)), sub_opts);
         sub_r_image_.subscribe(
           this, right_topic, hints.getTransport(), sensor_data_qos, sub_opts);
-        sub_r_info_.subscribe(this, right_info_topic, sensor_data_qos, sub_opts);
+        sub_r_info_.subscribe(this, right_info_topic,
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(sensor_data_qos)), sub_opts);
       }
     };
 

diff --git a/stereo_image_proc/src/stereo_image_proc/point_cloud_node.cpp b/stereo_image_proc/src/stereo_image_proc/point_cloud_node.cpp
@@ -191,9 +191,12 @@ PointCloudNode::PointCloudNode(const rclcpp::NodeOptions & options)
 
         sub_l_image_.subscribe(
           this, left_topic, hints.getTransport(), sensor_data_qos, sub_opts);
-        sub_l_info_.subscribe(this, left_info_topic, sensor_data_qos, sub_opts);
-        sub_r_info_.subscribe(this, right_topic, sensor_data_qos, sub_opts);
-        sub_disparity_.subscribe(this, disparity_topic, sensor_data_qos, sub_opts);
+        sub_l_info_.subscribe(this, left_info_topic,
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(sensor_data_qos)), sub_opts);
+        sub_r_info_.subscribe(this, right_topic,
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(sensor_data_qos)), sub_opts);
+        sub_disparity_.subscribe(this, disparity_topic,
+          rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(sensor_data_qos)), sub_opts);
       }
     };
   pub_points2_ = create_publisher<sensor_msgs::msg::PointCloud2>("points2", 1, pub_opts);