Remove deprecations, and a now invalid todo (#112)

* Remove deprecations, and a now invalid todo Signed-off-by: Nate Koenig <[email protected]> * Updated migration guide Signed-off-by: Nate Koenig <[email protected]> Co-authored-by: Nate Koenig <[email protected]> Co-authored-by: Carlos Agüero <[email protected]>
gazebosim · Dec 22, 2020 · 987d226 · 987d226
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diff --git a/Migration.md b/Migration.md
@@ -5,6 +5,20 @@ Deprecated code produces compile-time warnings. These warning serve as
 notification to users that their code should be upgraded. The next major
 release will remove the deprecated code.
 
+## Ignition Msgs 6.X to 7.X
+
+### Removals
+
+1. `bool use_parent_model_frame` from `axis.proto`.
+    * [Pull Request 112](https://github.com/ignitionrobotics/ign-msgs/pull/112/files)
+
+1. `double force` from `joint_cmd.proto`.
+    * [Pull Request 112](https://github.com/ignitionrobotics/ign-msgs/pull/112/files)
+
+1. `double target`, `double p_gain`, `double i_gain`, `double d_gain`,
+   `double i_max`, `double i_min`, `double limit` from `pid.proto`.
+    * [Pull Request 112](https://github.com/ignitionrobotics/ign-msgs/pull/112/files)
+
 ## Ignition Msgs 4.X to 5.X
 
 ### Modifications

diff --git a/proto/ignition/msgs/axis.proto b/proto/ignition/msgs/axis.proto
@@ -59,10 +59,6 @@ message Axis
   /// \brief The physical static friction value of the joint.
   double friction             = 8;
 
-  /// \brief True if the coordinates are expressed in the parent model frame.
-  /// \deprecated Use `xyz_expressed_in` instead.
-  bool use_parent_model_frame = 9[deprecated = true];
-
   /// \brief Position of the joint. For angular joints, such as revolute
   /// joints, the units are radians. For linear joints, such as prismatic
   /// joints, the units are meters.

diff --git a/proto/ignition/msgs/fuel_metadata.proto b/proto/ignition/msgs/fuel_metadata.proto
@@ -141,7 +141,6 @@ message FuelMetadata
   map<string, string> annotations = 9;
 
   /// \brief Resources that this resource depends on.
-  /// \todo(nkoenig) This field is currently not used.
   repeated Dependency dependencies = 10;
 
   /// \brief List of tools/libraries with version numbers that are compatible

diff --git a/proto/ignition/msgs/joint_cmd.proto b/proto/ignition/msgs/joint_cmd.proto
@@ -35,7 +35,6 @@ message JointCmd
 
   string name     = 2;
   int32 axis      = 3;
-  double force    = 4[deprecated = true];
 
   PID position    = 5;
   PID velocity    = 6;

diff --git a/proto/ignition/msgs/pid.proto b/proto/ignition/msgs/pid.proto
@@ -32,18 +32,11 @@ message PID
   /// \brief Optional header data
   Header header = 1;
 
-  double target = 2[deprecated = true];
-  double p_gain = 3[deprecated = true];
-  double i_gain = 4[deprecated = true];
-  double d_gain = 5[deprecated = true];
-  double i_max  = 6[deprecated = true];
-  double i_min  = 7[deprecated = true];
-  double limit  = 8[deprecated = true];
-  Double target_optional = 9;
-  Double p_gain_optional = 10;
-  Double i_gain_optional = 11;
-  Double d_gain_optional = 12;
-  Double i_max_optional  = 13;
-  Double i_min_optional  = 14;
-  Double limit_optional  = 15;
+  Double target_optional = 2;
+  Double p_gain_optional = 3;
+  Double i_gain_optional = 4;
+  Double d_gain_optional = 5;
+  Double i_max_optional  = 6;
+  Double i_min_optional  = 7;
+  Double limit_optional  = 8;
 }