From 987d2268dd208446ad60116474b29cfb46ab4da1 Mon Sep 17 00:00:00 2001 From: Nate Koenig Date: Mon, 21 Dec 2020 18:31:43 -0800 Subject: [PATCH] Remove deprecations, and a now invalid todo (#112) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * Remove deprecations, and a now invalid todo Signed-off-by: Nate Koenig * Updated migration guide Signed-off-by: Nate Koenig Co-authored-by: Nate Koenig Co-authored-by: Carlos Agüero --- Migration.md | 14 ++++++++++++++ proto/ignition/msgs/axis.proto | 4 ---- proto/ignition/msgs/fuel_metadata.proto | 1 - proto/ignition/msgs/joint_cmd.proto | 1 - proto/ignition/msgs/pid.proto | 21 +++++++-------------- 5 files changed, 21 insertions(+), 20 deletions(-) diff --git a/Migration.md b/Migration.md index 427aaa51..1d337b5d 100644 --- 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 index 2d7bee08..b2f769b6 100644 --- 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 index 28b88c73..76684bec 100644 --- a/proto/ignition/msgs/fuel_metadata.proto +++ b/proto/ignition/msgs/fuel_metadata.proto @@ -141,7 +141,6 @@ message FuelMetadata map 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 index 4bdb5969..bc41db09 100644 --- 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 index e615c8ed..f9ec26b0 100644 --- 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; }