Fix deprecation issues, rename func publishMarkersWithoutTrigger()

- Switch to C++14 deprecation approach
PickNikRobotics · Aug 14, 2019 · 60e2b19 · 60e2b19
1 parent 3ea03e7
commit 60e2b19
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Showing 3 changed files with 16 additions and 64 deletions.
diff --git a/include/rviz_visual_tools/deprecation.h b/include/rviz_visual_tools/deprecation.h
diff --git a/include/rviz_visual_tools/rviz_visual_tools.h b/include/rviz_visual_tools/rviz_visual_tools.h
@@ -66,7 +66,6 @@
 #include <trajectory_msgs/JointTrajectory.h>
 
 // rviz_visual_tools
-#include <rviz_visual_tools/deprecation.h>
 #include <rviz_visual_tools/remote_control.h>
 
 // Import/export for windows dll's and visibility for gcc shared libraries.
@@ -398,10 +397,16 @@ class RvizVisualTools
 
   /**
    * \brief Display an array of markers, allows reuse of the ROS publisher
-   * \param markers
+   *        This will automatically call publish(), skipping the need for trigger()
+   * \param markers: array of visualizations to display in Rviz
    * \return true on success
    */
-  bool publishMarkers(visualization_msgs::MarkerArray& markers);
+  bool publishMarkersWithoutTrigger(visualization_msgs::MarkerArray& markers);
+  // TODO(davetcoleman): Deprecated August 2019, remove in 1 year
+  [[deprecated]] bool publishMarkers(visualization_msgs::MarkerArray& markers)
+  {
+    publishMarkersWithoutTrigger(markers);
+  }
 
   /**
    * \brief Display a cone of a given angle along the x-axis
@@ -646,14 +651,15 @@ class RvizVisualTools
                     const std::vector<std_msgs::ColorRGBA>& colors, const geometry_msgs::Vector3& scale);
 
   /**
-   * \brief Display a series of connected lines using the LINE_STRIP method - deprecated because visual bugs
+   * \brief Display a series of connected lines using the LINE_STRIP method
    * \param path - a series of points to connect with lines
    * \param color - an enum pre-defined name of a color
    * \param scale - an enum pre-defined name of a size
    * \param ns - namespace of marker
    * \return true on success
    */
-  bool publishLineStrip(const std::vector<geometry_msgs::Point>& path, colors color = RED, scales scale = MEDIUM,
+  // TODO(davetcoleman): deprecated August 2019 because visual bugs
+  [[deprecated]] bool publishLineStrip(const std::vector<geometry_msgs::Point>& path, colors color = RED, scales scale = MEDIUM,
                         const std::string& ns = "Path");
 
   /**

diff --git a/src/rviz_visual_tools.cpp b/src/rviz_visual_tools.cpp
@@ -54,9 +54,6 @@ namespace rviz_visual_tools
 
 const std::string LOGNAME = "visual_tools";
 
-// DEPRECATED, remove in Melodic after Dec 2018 release or so
-const std::string RvizVisualTools::name_ = "visual_tools";
-
 const std::array<colors, 14> RvizVisualTools::all_rand_colors_ = { RED,        GREEN,  BLUE,   GREY,   DARK_GREY,
                                                                    WHITE,      ORANGE, YELLOW, BROWN,  PINK,
                                                                    LIME_GREEN, PURPLE, CYAN,   MAGENTA };
@@ -102,7 +99,7 @@ bool RvizVisualTools::loadRvizMarkers()
   reset_marker_.header.frame_id = base_frame_;
   reset_marker_.header.stamp = ros::Time();
   reset_marker_.ns = "deleteAllMarkers";  // helps during debugging
-  reset_marker_.action = 3;               // TODO(davetcoleman): In ROS-J set to visualization_msgs::Marker::DELETEALL;
+  reset_marker_.action = visualization_msgs::Marker::DELETEALL;
   reset_marker_.pose.orientation.w = 1;
 
   // Load arrow ----------------------------------------------------
@@ -871,13 +868,13 @@ bool RvizVisualTools::trigger()
     return false;
   }
 
-  bool result = publishMarkers(markers_);
+  bool result = publishMarkersWithoutTrigger(markers_);
 
   markers_.markers.clear();  // remove all cached markers
   return result;
 }
 
-bool RvizVisualTools::publishMarkers(visualization_msgs::MarkerArray& markers)
+bool RvizVisualTools::publishMarkersWithoutTrigger(visualization_msgs::MarkerArray& markers)
 {
   if (pub_rviz_markers_ == nullptr)
   {  // always check this before publishing
@@ -1629,13 +1626,13 @@ bool RvizVisualTools::publishMesh(const geometry_msgs::Pose& pose, const std::st
   return publishMarker(mesh_marker_);
 }
 
-bool RvizVisualTools::publishMesh(const Eigen::Isometry3d& pose, const shape_msgs::Mesh& mesh, colors color, 
+bool RvizVisualTools::publishMesh(const Eigen::Isometry3d& pose, const shape_msgs::Mesh& mesh, colors color,
                                   double scale, const std::string& ns, std::size_t id)
 {
   return publishMesh(convertPose(pose), mesh, color, scale, ns, id);
 }
 
-bool RvizVisualTools::publishMesh(const geometry_msgs::Pose& pose, const shape_msgs::Mesh& mesh, colors color, 
+bool RvizVisualTools::publishMesh(const geometry_msgs::Pose& pose, const shape_msgs::Mesh& mesh, colors color,
                                   double scale, const std::string& ns, std::size_t id)
 {
   triangle_marker_.header.stamp = ros::Time::now();