Cleanup deprecations in diff_drive_controller (#1653)

Author: christophfroehlich

diff_drive_controller/include/diff_drive_controller/speed_limiter.hpp

@@ -28,45 +28,6 @@ namespace diff_drive_controller
 class SpeedLimiter
 {
 public:
-  /**
-   * \brief Constructor
-   * \param [in] has_velocity_limits     if true, applies velocity limits
-   * \param [in] has_acceleration_limits if true, applies acceleration limits
-   * \param [in] has_jerk_limits         if true, applies jerk limits
-   * \param [in] min_velocity Minimum velocity [m/s], usually <= 0
-   * \param [in] max_velocity Maximum velocity [m/s], usually >= 0
-   * \param [in] max_deceleration Maximum deceleration [m/s^2], usually <= 0
-   * \param [in] max_acceleration Maximum acceleration [m/s^2], usually >= 0
-   * \param [in] min_jerk Minimum jerk [m/s^3], usually <= 0
-   * \param [in] max_jerk Maximum jerk [m/s^3], usually >= 0
-   */
-  [[deprecated]] explicit SpeedLimiter(
-    bool has_velocity_limits = true, bool has_acceleration_limits = true,
-    bool has_jerk_limits = true, double min_velocity = std::numeric_limits<double>::quiet_NaN(),
-    double max_velocity = std::numeric_limits<double>::quiet_NaN(),
-    double max_deceleration = std::numeric_limits<double>::quiet_NaN(),
-    double max_acceleration = std::numeric_limits<double>::quiet_NaN(),
-    double min_jerk = std::numeric_limits<double>::quiet_NaN(),
-    double max_jerk = std::numeric_limits<double>::quiet_NaN())
-  {
-    if (!has_velocity_limits)
-    {
-      min_velocity = max_velocity = std::numeric_limits<double>::quiet_NaN();
-    }
-    if (!has_acceleration_limits)
-    {
-      max_deceleration = max_acceleration = std::numeric_limits<double>::quiet_NaN();
-    }
-    if (!has_jerk_limits)
-    {
-      min_jerk = max_jerk = std::numeric_limits<double>::quiet_NaN();
-    }
-    speed_limiter_ = control_toolbox::RateLimiter<double>(
-      min_velocity, max_velocity, max_deceleration, max_acceleration,
-      std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(), min_jerk,
-      max_jerk);
-  }
-
   /**
    * \brief Constructor
    * \param [in] min_velocity Minimum velocity [m/s], usually <= 0

diff_drive_controller/src/diff_drive_controller.cpp

@@ -337,67 +337,6 @@ controller_interface::CallbackReturn DiffDriveController::on_configure(
   const int nr_ref_itfs = 2;
   reference_interfaces_.resize(nr_ref_itfs, std::numeric_limits<double>::quiet_NaN());
 
-  // TODO(christophfroehlich) remove deprecated parameters
-  // START DEPRECATED
-  if (!params_.linear.x.has_velocity_limits)
-  {
-    RCLCPP_WARN(
-      logger,
-      "[deprecated] has_velocity_limits parameter is deprecated, instead set the respective limits "
-      "to NAN");
-    params_.linear.x.min_velocity = params_.linear.x.max_velocity =
-      std::numeric_limits<double>::quiet_NaN();
-  }
-  if (!params_.linear.x.has_acceleration_limits)
-  {
-    RCLCPP_WARN(
-      logger,
-      "[deprecated] has_acceleration_limits parameter is deprecated, instead set the respective "
-      "limits to "
-      "NAN");
-    params_.linear.x.max_deceleration = params_.linear.x.max_acceleration =
-      params_.linear.x.max_deceleration_reverse = params_.linear.x.max_acceleration_reverse =
-        std::numeric_limits<double>::quiet_NaN();
-  }
-  if (!params_.linear.x.has_jerk_limits)
-  {
-    RCLCPP_WARN(
-      logger,
-      "[deprecated] has_jerk_limits parameter is deprecated, instead set the respective limits to "
-      "NAN");
-    params_.linear.x.min_jerk = params_.linear.x.max_jerk =
-      std::numeric_limits<double>::quiet_NaN();
-  }
-  if (!params_.angular.z.has_velocity_limits)
-  {
-    RCLCPP_WARN(
-      logger,
-      "[deprecated] has_velocity_limits parameter is deprecated, instead set the respective limits "
-      "to NAN");
-    params_.angular.z.min_velocity = params_.angular.z.max_velocity =
-      std::numeric_limits<double>::quiet_NaN();
-  }
-  if (!params_.angular.z.has_acceleration_limits)
-  {
-    RCLCPP_WARN(
-      logger,
-      "[deprecated] has_acceleration_limits parameter is deprecated, instead set the respective "
-      "limits to "
-      "NAN");
-    params_.angular.z.max_deceleration = params_.angular.z.max_acceleration =
-      params_.angular.z.max_deceleration_reverse = params_.angular.z.max_acceleration_reverse =
-        std::numeric_limits<double>::quiet_NaN();
-  }
-  if (!params_.angular.z.has_jerk_limits)
-  {
-    RCLCPP_WARN(
-      logger,
-      "[deprecated] has_jerk_limits parameter is deprecated, instead set the respective limits to "
-      "NAN");
-    params_.angular.z.min_jerk = params_.angular.z.max_jerk =
-      std::numeric_limits<double>::quiet_NaN();
-  }
-  // END DEPRECATED
   limiter_linear_ = std::make_unique<SpeedLimiter>(
     params_.linear.x.min_velocity, params_.linear.x.max_velocity,
     params_.linear.x.max_acceleration_reverse, params_.linear.x.max_acceleration,

diff_drive_controller/src/diff_drive_controller_parameter.yaml

@@ -113,21 +113,6 @@ diff_drive_controller:
   }
   linear:
     x:
-      has_velocity_limits: {
-        type: bool,
-        default_value: true,
-        description: "deprecated, set the respective limits to ``.NAN`` for deactivation"
-      }
-      has_acceleration_limits: {
-        type: bool,
-        default_value: true,
-        description: "deprecated, set the respective limits to ``.NAN`` for deactivation"
-      }
-      has_jerk_limits: {
-        type: bool,
-        default_value: true,
-        description: "deprecated, set the respective limits to ``.NAN`` for deactivation"
-      }
       max_velocity: {
         type: double,
         default_value: .NAN,
@@ -158,11 +143,6 @@ diff_drive_controller:
           "control_filters::lt_eq_or_nan<>": [0.0]
         }
       }
-      min_acceleration: {
-        type: double,
-        default_value: .NAN,
-        description: "deprecated, use max_deceleration"
-      }
       max_acceleration_reverse: {
         type: double,
         default_value: .NAN,
@@ -195,21 +175,6 @@ diff_drive_controller:
       }
   angular:
     z:
-      has_velocity_limits: {
-        type: bool,
-        default_value: true,
-        description: "deprecated, set the respective limits to ``.NAN`` for deactivation"
-      }
-      has_acceleration_limits: {
-        type: bool,
-        default_value: true,
-        description: "deprecated, set the respective limits to ``.NAN`` for deactivation"
-      }
-      has_jerk_limits: {
-        type: bool,
-        default_value: true,
-        description: "deprecated, set the respective limits to ``.NAN`` for deactivation"
-      }
       max_velocity: {
         type: double,
         default_value: .NAN,
@@ -240,11 +205,6 @@ diff_drive_controller:
           "control_filters::lt_eq_or_nan<>": [0.0]
         }
       }
-      min_acceleration: {
-        type: double,
-        default_value: .NAN,
-        description: "deprecated, use max_deceleration"
-      }
       max_acceleration_reverse: {
         type: double,
         default_value: .NAN,

doc/migration.rst

@@ -2,5 +2,8 @@
 
 Migration Guides: Jazzy to Kilted
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
 This list summarizes important changes between Jazzy (previous) and Kilted (current) releases, where changes to user code might be necessary.
+
+diff_drive_controller
+*****************************
+* Parameters ``has_velocity_limits``, ``has_acceleration_limits``, and ``has_jerk_limits`` are removed. Instead, set the respective limits to ``.NAN``. (`#1653 <https://github.com/ros-controls/ros2_controllers/pull/1653>`_).

doc/release_notes.rst

@@ -2,5 +2,4 @@
 
 Release Notes: Jazzy to Kilted
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
 This list summarizes the changes between Jazzy (previous) and Kilted (current) releases.