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Fix deprecation warnings for upcoming ROS Galactic release #631

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Merged
merged 6 commits into from
Mar 22, 2021
Merged

Fix deprecation warnings for upcoming ROS Galactic release #631

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6b36efd
Fix deprecation warnings when constructing rclcpp::Duration objects
jacobperron Mar 17, 2021
7055b82
Fix deprecated calls to declare_parameter
jacobperron Mar 17, 2021
ca9e807
Refactor
jacobperron Mar 17, 2021
afa37fa
Fix other deprecated uses of rclcpp::Duration
jacobperron Mar 17, 2021
774841b
Minor refactor
jacobperron Mar 18, 2021
3326e80
Catch exceptions when no parameter override is provided
jacobperron Mar 19, 2021
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18 changes: 9 additions & 9 deletions src/filter_base.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,9 +46,9 @@ namespace robot_localization
{
FilterBase::FilterBase()
: initialized_(false), use_control_(false),
use_dynamic_process_noise_covariance_(false), control_timeout_(0),
use_dynamic_process_noise_covariance_(false), control_timeout_(0, 0u),
last_measurement_time_(0, 0, RCL_ROS_TIME), latest_control_time_(0),
sensor_timeout_(0), debug_stream_(nullptr),
sensor_timeout_(0, 0u), debug_stream_(nullptr),
acceleration_gains_(TWIST_SIZE, 0.0),
acceleration_limits_(TWIST_SIZE, 0.0),
deceleration_gains_(TWIST_SIZE, 0.0),
Expand Down Expand Up @@ -99,7 +99,7 @@ void FilterBase::reset()
covariance_epsilon_ *= 0.001;

// Assume 30Hz from sensor data (configurable)
sensor_timeout_ = rclcpp::Duration(0.033333333);
sensor_timeout_ = rclcpp::Duration::from_seconds(0.033333333);

// Initialize our last update and measurement times
last_measurement_time_ = rclcpp::Time(0, 0, RCL_ROS_TIME);
Expand Down Expand Up @@ -197,7 +197,7 @@ void FilterBase::processMeasurement(const Measurement & measurement)
"------ FilterBase::processMeasurement (" << measurement.topic_name_ <<
") ------\n");

rclcpp::Duration delta(0);
rclcpp::Duration delta(0, 0u);

// If we've had a previous reading, then go through the predict/update
// cycle. Otherwise, set our state and covariance to whatever we get
Expand All @@ -215,7 +215,7 @@ void FilterBase::processMeasurement(const Measurement & measurement)

// Only want to carry out a prediction if it's
// forward in time. Otherwise, just correct.
if (delta > rclcpp::Duration(0)) {
if (delta > rclcpp::Duration(0, 0u)) {
validateDelta(delta);
predict(measurement.time_, delta);

Expand Down Expand Up @@ -247,7 +247,7 @@ void FilterBase::processMeasurement(const Measurement & measurement)
initialized_ = true;
}

if (delta >= rclcpp::Duration(0)) {
if (delta >= rclcpp::Duration(0, 0u)) {
// Update the last measurement and update time.
// The measurement time is based on the time stamp of the
// measurement, whereas the update time is based on this
Expand Down Expand Up @@ -337,15 +337,15 @@ void FilterBase::setState(const Eigen::VectorXd & state) {state_ = state;}
void FilterBase::validateDelta(rclcpp::Duration & /*delta*/)
{
// TODO(someone): Need to verify this condition B'Coz
// rclcpp::Duration(100000.0) value is 0.00010000000000000000479
// rclcpp::Duration::from_seconds(100000.0) value is 0.00010000000000000000479
// This handles issues with ROS time when use_sim_time is on and we're playing
// from bags.
/* if (delta > rclcpp::Duration(100000.0))
/* if (delta > rclcpp::Duration::from_seconds(100000.0))
{
FB_DEBUG("Delta was very large. Suspect playing from bag file. Setting to
0.01\n");

delta = rclcpp::Duration(0.01);
delta = rclcpp::Duration::from_seconds(0.01);
} */
}

Expand Down
2 changes: 1 addition & 1 deletion src/robot_localization_estimator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -182,7 +182,7 @@ void RobotLocalizationEstimator::extrapolate(
rclcpp::Time time_stamp = rclcpp::Time(
boundary_state.time_stamp *
1000000000);
rclcpp::Duration delta_duration = rclcpp::Duration(delta * 1000000000);
rclcpp::Duration delta_duration = rclcpp::Duration::from_seconds(delta);
filter_->predict(time_stamp, delta_duration);

state_at_req_time.time_stamp = requested_time;
Expand Down
90 changes: 61 additions & 29 deletions src/ros_filter.cpp
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Expand Up @@ -72,12 +72,12 @@ RosFilter<T>::RosFilter(const rclcpp::NodeOptions & options)
static_diag_error_level_(diagnostic_msgs::msg::DiagnosticStatus::OK),
frequency_(30.0),
gravitational_acceleration_(9.80665),
history_length_(0),
history_length_(0ns),
latest_control_(),
last_set_pose_time_(0, 0, RCL_ROS_TIME),
latest_control_time_(0, 0, RCL_ROS_TIME),
tf_timeout_(0),
tf_time_offset_(0)
tf_timeout_(0ns),
tf_time_offset_(0ns)
{
tf_buffer_ = std::make_unique<tf2_ros::Buffer>(this->get_clock());
tf_listener_ = std::make_unique<tf2_ros::TransformListener>(*tf_buffer_);
Expand Down Expand Up @@ -604,7 +604,7 @@ void RosFilter<T>::integrateMeasurements(const rclcpp::Time & current_time)
const std::string first_measurement_topic =
first_measurement->topic_name_;
// revertTo may invalidate first_measurement
if (!revertTo(first_measurement_time - rclcpp::Duration(1))) {
if (!revertTo(first_measurement_time - rclcpp::Duration(1ns))) {
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@SteveMacenski SteveMacenski Mar 17, 2021

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@ayrton04 should this be 1ns, 1s, ...?

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@jacobperron jacobperron Mar 17, 2021

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Thanks, I meant to ask the same question.

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@jacobperron jacobperron Mar 18, 2021

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If I understand the equivalent ROS 1 code, it is also subtracting 1 nanosecond:

robot_localization/src/ros_filter.cpp

Line 611 in a2da33b

if (!revertTo(firstMeasurementTime - 1e-9)) // revertTo may invalidate firstMeasurement

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@ayrton04 ayrton04 Mar 22, 2021

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So the PRs involved here are

https://github.com/cra-ros-pkg/robot_localization/pull/266/files

and

https://github.com/cra-ros-pkg/robot_localization/pull/279/files

The only reason we subtract any time at all is to ensure that we go to a measurement (presumably the first) that is before first_measurement_time. But we could also just change this to use >=:

robot_localization/src/ros_filter.cpp

Lines 3322 to 3323 in 3326e80

while (!filter_state_history_.empty() &&
filter_state_history_.back()->last_measurement_time_ > time)

If I had to guess (I didn't dig too far), the measurement times were likely stored as doubles originally, and the 1e-9 thing was just me being careful with floating point numbers. But ROS times have exact representations, so I think the 1e-9 could go, and we can change the revertTo reverse iteration to check for >= instead of just >.

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@ayrton04 ayrton04 Mar 22, 2021

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However, that change could be outside of scope for this. It was meant to be 1 nanosecond, yes.

RF_DEBUG(
"ERROR: history interval is too small to revert to time " <<
filter_utilities::toSec(first_measurement_time) << "\n");
Expand Down Expand Up @@ -815,7 +815,10 @@ void RosFilter<T>::loadParams()
// Try to resolve tf_prefix
std::string tf_prefix = "";
std::string tf_prefix_path = "";
this->declare_parameter("tf_prefix");
try {
this->declare_parameter<std::string>("tf_prefix");
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
if (this->get_parameter("tf_prefix", tf_prefix_path)) {
// Append the tf prefix in a tf2-friendly manner
filter_utilities::appendPrefix(tf_prefix, map_frame_id_);
Expand All @@ -833,19 +836,17 @@ void RosFilter<T>::loadParams()

// Transform future dating
double offset_tmp = this->declare_parameter("transform_time_offset", 0.0);
tf_time_offset_ =
rclcpp::Duration(filter_utilities::secToNanosec(offset_tmp));
tf_time_offset_ = rclcpp::Duration::from_seconds(offset_tmp);

// Transform timeout
double timeout_tmp = this->declare_parameter("transform_timeout", 0.0);
tf_timeout_ = rclcpp::Duration(filter_utilities::secToNanosec(timeout_tmp));
tf_timeout_ = rclcpp::Duration::from_seconds(timeout_tmp);

// Update frequency and sensor timeout
frequency_ = this->declare_parameter("frequency", 30.0);

double sensor_timeout = this->declare_parameter("sensor_timeout", 1.0 / frequency_);
filter_.setSensorTimeout(
rclcpp::Duration(filter_utilities::secToNanosec(sensor_timeout)));
filter_.setSensorTimeout(rclcpp::Duration::from_seconds(sensor_timeout));

// Determine if we're in 2D mode
two_d_mode_ = this->declare_parameter("two_d_mode", false);
Expand All @@ -865,8 +866,7 @@ void RosFilter<T>::loadParams()
" specified. Absolute value will be assumed.";
}

history_length_ = rclcpp::Duration(
filter_utilities::secToNanosec(std::abs(history_length_double)));
history_length_ = rclcpp::Duration::from_seconds(std::abs(history_length_double));

// Whether we reset filter on jump back in time
reset_on_time_jump_ = this->declare_parameter("reset_on_time_jump", false);
Expand All @@ -883,7 +883,10 @@ void RosFilter<T>::loadParams()
control_timeout = this->declare_parameter("control_timeout", 0.0);

if (use_control_) {
this->declare_parameter("control_config");
try {
this->declare_parameter<std::vector<bool>>("control_config");
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
if (this->get_parameter("control_config", control_update_vector)) {
if (control_update_vector.size() != TWIST_SIZE) {
std::cerr << "Control configuration must be of size " << TWIST_SIZE <<
Expand All @@ -899,7 +902,10 @@ void RosFilter<T>::loadParams()
use_control_ = false;
}

this->declare_parameter("acceleration_limits");
try {
this->declare_parameter<std::vector<double>>("acceleration_limits");
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
if (this->get_parameter("acceleration_limits", acceleration_limits)) {
if (acceleration_limits.size() != TWIST_SIZE) {
std::cerr << "Acceleration configuration must be of size " << TWIST_SIZE <<
Expand All @@ -915,7 +921,10 @@ void RosFilter<T>::loadParams()
acceleration_limits.resize(TWIST_SIZE, 1.0);
}

this->declare_parameter("acceleration_gains");
try {
this->declare_parameter<std::vector<double>>("acceleration_gains");
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
if (this->get_parameter("acceleration_gains", acceleration_gains)) {
const int size = acceleration_gains.size();
if (size != TWIST_SIZE) {
Expand All @@ -929,7 +938,10 @@ void RosFilter<T>::loadParams()
}
}

this->declare_parameter("deceleration_limits");
try {
this->declare_parameter<std::vector<double>>("deceleration_limits");
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
if (this->get_parameter("deceleration_limits", deceleration_limits)) {
if (deceleration_limits.size() != TWIST_SIZE) {
std::cerr << "Deceleration configuration must be of size " << TWIST_SIZE <<
Expand All @@ -945,7 +957,10 @@ void RosFilter<T>::loadParams()
deceleration_limits = acceleration_limits;
}

this->declare_parameter("deceleration_gains");
try {
this->declare_parameter<std::vector<double>>("deceleration_gains");
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
if (this->get_parameter("deceleration_gains", deceleration_gains)) {
const int size = deceleration_gains.size();
if (size != TWIST_SIZE) {
Expand Down Expand Up @@ -977,7 +992,10 @@ void RosFilter<T>::loadParams()
dynamic_process_noise_covariance);

std::vector<double> initial_state;
this->declare_parameter("initial_state");
try {
this->declare_parameter<std::vector<double>>("initial_state");
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
if (this->get_parameter("initial_state", initial_state)) {
if (initial_state.size() != STATE_SIZE) {
std::cerr << "Initial state must be of size " << STATE_SIZE <<
Expand Down Expand Up @@ -1066,15 +1084,17 @@ void RosFilter<T>::loadParams()
ss << "odom" << topic_ind++;
std::string odom_topic_name = ss.str();
std::string odom_topic;
this->declare_parameter(odom_topic_name);
try {
this->declare_parameter<std::string>(odom_topic_name);
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}

rclcpp::Parameter parameter;
if (rclcpp::PARAMETER_NOT_SET != this->get_parameter(odom_topic_name, parameter)) {
more_params = true;
odom_topic = parameter.as_string();
} else {
more_params = false;
this->undeclare_parameter(odom_topic_name);
}

if (more_params) {
Expand Down Expand Up @@ -1217,15 +1237,17 @@ void RosFilter<T>::loadParams()
ss << "pose" << topic_ind++;
std::string pose_topic_name = ss.str();
std::string pose_topic;
this->declare_parameter(pose_topic_name);
try {
this->declare_parameter<std::string>(pose_topic_name);
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}

rclcpp::Parameter parameter;
if (rclcpp::PARAMETER_NOT_SET != this->get_parameter(pose_topic_name, parameter)) {
more_params = true;
pose_topic = parameter.as_string();
} else {
more_params = false;
this->undeclare_parameter(pose_topic_name);
}

if (more_params) {
Expand Down Expand Up @@ -1335,15 +1357,17 @@ void RosFilter<T>::loadParams()
ss << "twist" << topic_ind++;
std::string twist_topic_name = ss.str();
std::string twist_topic;
this->declare_parameter(twist_topic_name);
try {
this->declare_parameter<std::string>(twist_topic_name);
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}

rclcpp::Parameter parameter;
if (rclcpp::PARAMETER_NOT_SET != this->get_parameter(twist_topic_name, parameter)) {
more_params = true;
twist_topic = parameter.as_string();
} else {
more_params = false;
this->undeclare_parameter(twist_topic_name);
}

if (more_params) {
Expand Down Expand Up @@ -1417,15 +1441,17 @@ void RosFilter<T>::loadParams()
ss << "imu" << topic_ind++;
std::string imu_topic_name = ss.str();
std::string imu_topic;
this->declare_parameter(imu_topic_name);
try {
this->declare_parameter<std::string>(imu_topic_name);
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}

rclcpp::Parameter parameter;
if (rclcpp::PARAMETER_NOT_SET != this->get_parameter(imu_topic_name, parameter)) {
more_params = true;
imu_topic = parameter.as_string();
} else {
more_params = false;
this->undeclare_parameter(imu_topic_name);
}

if (more_params) {
Expand Down Expand Up @@ -1663,7 +1689,7 @@ void RosFilter<T>::loadParams()

filter_.setControlParams(
control_update_vector,
rclcpp::Duration(filter_utilities::secToNanosec(control_timeout)),
rclcpp::Duration::from_seconds(control_timeout),
acceleration_limits, acceleration_gains, deceleration_limits,
deceleration_gains);

Expand Down Expand Up @@ -1727,7 +1753,10 @@ void RosFilter<T>::loadParams()
process_noise_covariance.setZero();
std::vector<double> process_noise_covar_flat;

this->declare_parameter("process_noise_covariance");
try {
this->declare_parameter<std::vector<double>>("process_noise_covariance");
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
if (this->get_parameter(
"process_noise_covariance",
process_noise_covar_flat))
Expand All @@ -1754,7 +1783,10 @@ void RosFilter<T>::loadParams()
initial_estimate_error_covariance.setZero();
std::vector<double> estimate_error_covar_flat;

this->declare_parameter("initial_estimate_covariance");
try {
this->declare_parameter<std::vector<double>>("initial_estimate_covariance");
} catch (const rclcpp::exceptions::NoParameterOverrideProvided &) {
}
if (this->get_parameter(
"initial_estimate_covariance",
estimate_error_covar_flat))
Expand Down
2 changes: 1 addition & 1 deletion src/ros_filter_utilities.cpp
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Expand Up @@ -193,7 +193,7 @@ bool lookupTransformSafe(
{
return lookupTransformSafe(
buffer, target_frame, source_frame, time,
rclcpp::Duration(0), target_frame_trans, silent);
rclcpp::Duration(0, 0u), target_frame_trans, silent);
}

void quatToRPY(
Expand Down
4 changes: 2 additions & 2 deletions test/test_filter_base.cpp
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Expand Up @@ -138,8 +138,8 @@ TEST(FilterBaseTest, DerivedFilterGetSet) {

// Simple get/set checks
double timeout = 7.4;
derived.setSensorTimeout(rclcpp::Duration(timeout));
EXPECT_EQ(derived.getSensorTimeout(), rclcpp::Duration(timeout));
derived.setSensorTimeout(rclcpp::Duration::from_seconds(timeout));
EXPECT_EQ(derived.getSensorTimeout(), rclcpp::Duration::from_seconds(timeout));

double lastMeasTime = 3.83;
derived.setLastMeasurementTime(rclcpp::Time(lastMeasTime));
Expand Down