remove things that were deprecated during galactic (#1913)

Signed-off-by: William Woodall <[email protected]>

rclcpp/include/rclcpp/any_subscription_callback.hpp

@@ -354,12 +354,6 @@ class AnySubscriptionCallback
     allocator::set_allocator_for_deleter(&ros_message_type_deleter_, &ros_message_type_allocator_);
   }
 
-  [[deprecated("use AnySubscriptionCallback(const AllocatorT & allocator) instead")]]
-  explicit
-  AnySubscriptionCallback(std::shared_ptr<AllocatorT> allocator)  // NOLINT[runtime/explicit]
-  : AnySubscriptionCallback(*NotNull<AllocatorT>(allocator.get(), "invalid allocator").pointer)
-  {}
-
   AnySubscriptionCallback(const AnySubscriptionCallback &) = default;
 
   /// Generic function for setting the callback.

rclcpp/include/rclcpp/duration.hpp

@@ -38,13 +38,6 @@ class RCLCPP_PUBLIC Duration
    */
   Duration(int32_t seconds, uint32_t nanoseconds);
 
-  /// Construct duration from the specified nanoseconds.
-  [[deprecated(
-    "Use Duration::from_nanoseconds instead or std::chrono_literals. For example:"
-    "rclcpp::Duration::from_nanoseconds(int64_variable);"
-    "rclcpp::Duration(0ns);")]]
-  explicit Duration(rcl_duration_value_t nanoseconds);
-
   /// Construct duration from the specified std::chrono::nanoseconds.
   explicit Duration(std::chrono::nanoseconds nanoseconds);
 

rclcpp/include/rclcpp/node.hpp

@@ -395,22 +395,6 @@ class Node : public std::enable_shared_from_this<Node>
     rcl_interfaces::msg::ParameterDescriptor{},
     bool ignore_override = false);
 
-  /// Declare a parameter
-  [[deprecated(
-    "declare_parameter() with only a name is deprecated and will be deleted in the future.\n" \
-    "If you want to declare a parameter that won't change type without a default value use:\n" \
-    "`node->declare_parameter<ParameterT>(name)`, where e.g. ParameterT=int64_t.\n\n" \
-    "If you want to declare a parameter that can dynamically change type use:\n" \
-    "```\n" \
-    "rcl_interfaces::msg::ParameterDescriptor descriptor;\n" \
-    "descriptor.dynamic_typing = true;\n" \
-    "node->declare_parameter(name, rclcpp::ParameterValue{}, descriptor);\n" \
-    "```"
-  )]]
-  RCLCPP_PUBLIC
-  const rclcpp::ParameterValue &
-  declare_parameter(const std::string & name);
-
   /// Declare and initialize a parameter with a type.
   /**
    * See the non-templated declare_parameter() on this class for details.

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -103,25 +103,6 @@ class NodeParameters : public NodeParametersInterface
   virtual
   ~NodeParameters();
 
-// This is overriding a deprecated method, so we need to ignore the deprecation warning here.
-// Users of the method will still get a warning!
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-  [[deprecated(RCLCPP_INTERNAL_NODE_PARAMETERS_INTERFACE_DEPRECATE_DECLARE)]]
-  RCLCPP_PUBLIC
-  const rclcpp::ParameterValue &
-  declare_parameter(const std::string & name) override;
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#else
-# pragma warning(pop)
-#endif
-
   RCLCPP_PUBLIC
   const rclcpp::ParameterValue &
   declare_parameter(

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -45,17 +45,6 @@ struct OnSetParametersCallbackHandle
   OnParametersSetCallbackType callback;
 };
 
-#define RCLCPP_INTERNAL_NODE_PARAMETERS_INTERFACE_DEPRECATE_DECLARE \
-  "declare_parameter() with only a name is deprecated and will be deleted in the future.\n" \
-  "If you want to declare a parameter that won't change type without a default value use:\n" \
-  "`node_params->declare_parameter(name, type)`, with e.g. type=rclcpp::PARAMETER_INTEGER.\n\n" \
-  "If you want to declare a parameter that can dynamically change type use:\n" \
-  "```\n" \
-  "rcl_interfaces::msg::ParameterDescriptor descriptor;\n" \
-  "descriptor.dynamic_typing = true;\n" \
-  "node_params->declare_parameter(name, rclcpp::ParameterValue{}, descriptor);\n" \
-  "```"
-
 /// Pure virtual interface class for the NodeParameters part of the Node API.
 class NodeParametersInterface
 {
@@ -66,15 +55,6 @@ class NodeParametersInterface
   virtual
   ~NodeParametersInterface() = default;
 
-  /// Declare a parameter.
-  /**
-   * \sa rclcpp::Node::declare_parameter
-   */
-  [[deprecated(RCLCPP_INTERNAL_NODE_PARAMETERS_INTERFACE_DEPRECATE_DECLARE)]]
-  virtual
-  const rclcpp::ParameterValue &
-  declare_parameter(const std::string & name) = 0;
-
   /// Declare and initialize a parameter.
   /**
    * \sa rclcpp::Node::declare_parameter

rclcpp/src/rclcpp/duration.cpp

@@ -37,11 +37,6 @@ Duration::Duration(int32_t seconds, uint32_t nanoseconds)
   rcl_duration_.nanoseconds += nanoseconds;
 }
 
-Duration::Duration(rcl_duration_value_t nanoseconds)
-{
-  rcl_duration_.nanoseconds = nanoseconds;
-}
-
 Duration::Duration(std::chrono::nanoseconds nanoseconds)
 {
   rcl_duration_.nanoseconds = nanoseconds.count();

rclcpp/src/rclcpp/node.cpp

@@ -310,24 +310,6 @@ Node::create_callback_group(
   return node_base_->create_callback_group(group_type, automatically_add_to_executor_with_node);
 }
 
-const rclcpp::ParameterValue &
-Node::declare_parameter(const std::string & name)
-{
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-  return this->node_parameters_->declare_parameter(name);
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#else
-# pragma warning(pop)
-#endif
-}
-
 const rclcpp::ParameterValue &
 Node::declare_parameter(
   const std::string & name,

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -467,14 +467,6 @@ declare_parameter_helper(
   return parameters.at(name).value;
 }
 
-const rclcpp::ParameterValue &
-NodeParameters::declare_parameter(const std::string & name)
-{
-  rcl_interfaces::msg::ParameterDescriptor descriptor;
-  descriptor.dynamic_typing = true;
-  return this->declare_parameter(name, rclcpp::ParameterValue{}, descriptor, false);
-}
-
 const rclcpp::ParameterValue &
 NodeParameters::declare_parameter(
   const std::string & name,

rclcpp/test/rclcpp/test_any_subscription_callback.cpp

@@ -84,35 +84,6 @@ class TestAnySubscriptionCallbackTA : public ::testing::Test
   rclcpp::MessageInfo message_info_;
 };
 
-void construct_with_null_allocator()
-{
-// suppress deprecated function warning
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-
-  // We need to wrap this in a function because `EXPECT_THROW` is a macro, and thinks
-  // that the comma in here splits macro arguments, not the template arguments.
-  rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> any_subscription_callback(nullptr);
-
-// remove warning suppression
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-}
-
-TEST(AnySubscriptionCallback, null_allocator) {
-  EXPECT_THROW(
-    construct_with_null_allocator(),
-    std::invalid_argument);
-}
-
 TEST_F(TestAnySubscriptionCallback, construct_destruct) {
   // Default constructor.
   rclcpp::AnySubscriptionCallback<test_msgs::msg::Empty> asc1;

rclcpp/test/rclcpp/test_node.cpp

@@ -3138,20 +3138,4 @@ TEST_F(TestNode, static_and_dynamic_typing) {
         "uninitialized_not_valid_except_dynamic_typing", rclcpp::ParameterValue{}),
       rclcpp::exceptions::InvalidParameterTypeException);
   }
-  {
-#ifndef _WIN32
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-    auto param = node->declare_parameter("deprecated_way_dynamic_typing");
-    EXPECT_EQ(param, rclcpp::ParameterValue{});
-#ifndef _WIN32
-# pragma GCC diagnostic pop
-#else
-# pragma warning(pop)
-#endif
-  }
 }

rclcpp_action/include/rclcpp_action/client.hpp

@@ -342,107 +342,13 @@ class Client : public ClientBase
   using Feedback = typename ActionT::Feedback;
   using GoalHandle = ClientGoalHandle<ActionT>;
   using WrappedResult = typename GoalHandle::WrappedResult;
+  using GoalResponseCallback = std::function<void (typename GoalHandle::SharedPtr)>;
   using FeedbackCallback = typename GoalHandle::FeedbackCallback;
   using ResultCallback = typename GoalHandle::ResultCallback;
   using CancelRequest = typename ActionT::Impl::CancelGoalService::Request;
   using CancelResponse = typename ActionT::Impl::CancelGoalService::Response;
   using CancelCallback = std::function<void (typename CancelResponse::SharedPtr)>;
 
-  /// Compatibility wrapper for `goal_response_callback`.
-  class GoalResponseCallback
-  {
-public:
-    using NewSignature = std::function<void (typename GoalHandle::SharedPtr)>;
-    using OldSignature = std::function<void (std::shared_future<typename GoalHandle::SharedPtr>)>;
-
-    GoalResponseCallback() = default;
-
-    GoalResponseCallback(std::nullptr_t) {}  // NOLINT, intentionally implicit.
-
-    // implicit constructor
-    [[deprecated(
-      "Use new goal response callback signature "
-      "`std::function<void (Client<ActionT>::GoalHandle::SharedPtr)>` "
-      "instead of the old "
-      "`std::function<void (std::shared_future<Client<ActionT>::GoalHandle::SharedPtr>)>`.\n"
-      "e.g.:\n"
-      "```cpp\n"
-      "Client<ActionT>::SendGoalOptions options;\n"
-      "options.goal_response_callback = [](Client<ActionT>::GoalHandle::SharedPtr goal) {\n"
-      "  // do something with `goal` here\n"
-      "};")]]
-    GoalResponseCallback(OldSignature old_callback)  // NOLINT, intentionally implicit.
-    : old_callback_(std::move(old_callback)) {}
-
-    GoalResponseCallback(NewSignature new_callback)  // NOLINT, intentionally implicit.
-    : new_callback_(std::move(new_callback)) {}
-
-    GoalResponseCallback &
-    operator=(OldSignature old_callback) {old_callback_ = std::move(old_callback); return *this;}
-
-    GoalResponseCallback &
-    operator=(NewSignature new_callback) {new_callback_ = std::move(new_callback); return *this;}
-
-    void
-    operator()(typename GoalHandle::SharedPtr goal_handle) const
-    {
-      if (new_callback_) {
-        new_callback_(std::move(goal_handle));
-        return;
-      }
-      if (old_callback_) {
-        throw std::runtime_error{
-                "Cannot call GoalResponseCallback(GoalHandle::SharedPtr) "
-                "if using the old goal response callback signature."};
-      }
-      throw std::bad_function_call{};
-    }
-
-    [[deprecated(
-      "Calling "
-      "`void goal_response_callback("
-      "   std::shared_future<Client<ActionT>::GoalHandle::SharedPtr> goal_handle_shared_future)`"
-      " is deprecated.")]]
-    void
-    operator()(std::shared_future<typename GoalHandle::SharedPtr> goal_handle_future) const
-    {
-      if (old_callback_) {
-        old_callback_(std::move(goal_handle_future));
-        return;
-      }
-      if (new_callback_) {
-        new_callback_(std::move(goal_handle_future).get_future().share());
-        return;
-      }
-      throw std::bad_function_call{};
-    }
-
-    explicit operator bool() const noexcept {
-      return new_callback_ || old_callback_;
-    }
-
-private:
-    friend class Client;
-    void
-    operator()(
-      typename GoalHandle::SharedPtr goal_handle,
-      std::shared_future<typename GoalHandle::SharedPtr> goal_handle_future) const
-    {
-      if (new_callback_) {
-        new_callback_(std::move(goal_handle));
-        return;
-      }
-      if (old_callback_) {
-        old_callback_(std::move(goal_handle_future));
-        return;
-      }
-      throw std::bad_function_call{};
-    }
-
-    NewSignature new_callback_;
-    OldSignature old_callback_;
-  };
-
   /// Options for sending a goal.
   /**
    * This struct is used to pass parameters to the function `async_send_goal`.
@@ -524,14 +430,14 @@ class Client : public ClientBase
     goal_request->goal = goal;
     this->send_goal_request(
       std::static_pointer_cast<void>(goal_request),
-      [this, goal_request, options, promise, future](std::shared_ptr<void> response) mutable
+      [this, goal_request, options, promise](std::shared_ptr<void> response) mutable
       {
         using GoalResponse = typename ActionT::Impl::SendGoalService::Response;
         auto goal_response = std::static_pointer_cast<GoalResponse>(response);
         if (!goal_response->accepted) {
           promise->set_value(nullptr);
           if (options.goal_response_callback) {
-            options.goal_response_callback(nullptr, future);
+            options.goal_response_callback(nullptr);
           }
           return;
         }
@@ -547,7 +453,7 @@ class Client : public ClientBase
         }
         promise->set_value(goal_handle);
         if (options.goal_response_callback) {
-          options.goal_response_callback(goal_handle, future);
+          options.goal_response_callback(goal_handle);
         }
 
         if (options.result_callback) {