Fix deprecation warnings

Signed-off-by: Jacob Perron <[email protected]>

rclpy/rclpy/node.py

@@ -163,7 +163,7 @@ def __init__(
         self.__executor_weakref = None
 
         self._parameter_event_publisher = self.create_publisher(
-            ParameterEvent, 'parameter_events', qos_profile=qos_profile_parameter_events)
+            ParameterEvent, 'parameter_events', qos_profile_parameter_events)
 
         with self.handle as capsule:
             self._initial_parameters = _rclpy.rclpy_get_node_parameters(Parameter, capsule)

rclpy/rclpy/time_source.py

@@ -57,7 +57,8 @@ def _subscribe_to_clock_topic(self):
             self._clock_sub = self._node.create_subscription(
                 rosgraph_msgs.msg.Clock,
                 CLOCK_TOPIC,
-                self.clock_callback
+                self.clock_callback,
+                10
             )
 
     def attach_node(self, node):

rclpy/test/test_action_client.py

@@ -43,7 +43,7 @@ def __init__(self, node):
             Fibonacci.Impl.GetResultService, '/fibonacci/_action/get_result',
             self.result_callback)
         self.feedback_pub = node.create_publisher(
-            Fibonacci.Impl.FeedbackMessage, '/fibonacci/_action/feedback')
+            Fibonacci.Impl.FeedbackMessage, '/fibonacci/_action/feedback', 1)
 
     def goal_callback(self, request, response):
         response.accepted = True

rclpy/test/test_action_server.py

@@ -40,9 +40,12 @@ def __init__(self, node):
         self.result_srv = node.create_client(
             Fibonacci.Impl.GetResultService, '/fibonacci/_action/get_result')
         self.feedback_sub = node.create_subscription(
-            Fibonacci.Impl.FeedbackMessage, '/fibonacci/_action/feedback', self.feedback_callback)
+            Fibonacci.Impl.FeedbackMessage,
+            '/fibonacci/_action/feedback',
+            self.feedback_callback,
+            1)
         self.status_sub = node.create_subscription(
-            Fibonacci.Impl.GoalStatusMessage, '/fibonacci/_action/status', self.status_callback)
+            Fibonacci.Impl.GoalStatusMessage, '/fibonacci/_action/status', self.status_callback, 1)
 
     def reset(self):
         self.feedback_msg = None

rclpy/test/test_callback_group.py

@@ -71,10 +71,10 @@ def test_create_timer_with_group(self):
         self.assertTrue(group.has_entity(tmr2))
 
     def test_create_subscription_with_group(self):
-        sub1 = self.node.create_subscription(BasicTypes, 'chatter', lambda msg: print(msg))
+        sub1 = self.node.create_subscription(BasicTypes, 'chatter', lambda msg: print(msg), 1)
         group = ReentrantCallbackGroup()
         sub2 = self.node.create_subscription(
-            BasicTypes, 'chatter', lambda msg: print(msg), callback_group=group)
+            BasicTypes, 'chatter', lambda msg: print(msg), 1, callback_group=group)
 
         self.assertFalse(group.has_entity(sub1))
         self.assertTrue(group.has_entity(sub2))

rclpy/test/test_create_while_spinning.py

@@ -54,8 +54,8 @@ def tearDown(self):
 
     def test_publish_subscribe(self):
         evt = threading.Event()
-        self.node.create_subscription(BasicTypes, 'foo', lambda msg: evt.set())
-        pub = self.node.create_publisher(BasicTypes, 'foo')
+        self.node.create_subscription(BasicTypes, 'foo', lambda msg: evt.set(), 1)
+        pub = self.node.create_publisher(BasicTypes, 'foo', 1)
         pub.publish(BasicTypes())
         assert evt.wait(TIMEOUT)
 

rclpy/test/test_destruction.py

@@ -71,16 +71,16 @@ def test_destroy_entities():
             timer = node.create_timer(0.1, None)
             timer  # noqa
             assert 1 == len(tuple(node.timers))
-            pub1 = node.create_publisher(BasicTypes, 'pub1_topic')
+            pub1 = node.create_publisher(BasicTypes, 'pub1_topic', 1)
             assert 2 == len(tuple(node.publishers))
-            pub2 = node.create_publisher(BasicTypes, 'pub2_topic')
+            pub2 = node.create_publisher(BasicTypes, 'pub2_topic', 1)
             pub2  # noqa
             assert 3 == len(tuple(node.publishers))
             sub1 = node.create_subscription(
-                BasicTypes, 'sub1_topic', lambda msg: ...)
+                BasicTypes, 'sub1_topic', lambda msg: ..., 1)
             assert 1 == len(tuple(node.subscriptions))
             sub2 = node.create_subscription(
-                BasicTypes, 'sub2_topic', lambda msg: ...)
+                BasicTypes, 'sub2_topic', lambda msg: ..., 1)
             sub2  # noqa
             assert 2 == len(tuple(node.subscriptions))
 
@@ -105,7 +105,7 @@ def test_destroy_subscription_asap():
     try:
         node = rclpy.create_node('test_destroy_subscription_asap', context=context)
         try:
-            sub = node.create_subscription(BasicTypes, 'sub_topic', lambda msg: ...)
+            sub = node.create_subscription(BasicTypes, 'sub_topic', lambda msg: ..., 1)
 
             # handle valid
             with sub.handle:
@@ -154,7 +154,7 @@ def test_destroy_publisher_asap():
     try:
         node = rclpy.create_node('test_destroy_publisher_asap', context=context)
         try:
-            pub = node.create_publisher(BasicTypes, 'pub_topic')
+            pub = node.create_publisher(BasicTypes, 'pub_topic', 1)
 
             # handle valid
             with pub.handle:

rclpy/test/test_messages.py

@@ -42,11 +42,11 @@ def tearDownClass(cls):
     def test_invalid_string_raises(self):
         msg = Strings()
         msg.string_value = 'ñu'
-        pub = self.node.create_publisher(Strings, 'chatter')
+        pub = self.node.create_publisher(Strings, 'chatter', 1)
         with self.assertRaises(UnicodeEncodeError):
             pub.publish(msg)
 
     def test_different_type_raises(self):
-        pub = self.node.create_publisher(BasicTypes, 'chatter')
+        pub = self.node.create_publisher(BasicTypes, 'chatter', 1)
         with self.assertRaises(TypeError):
             pub.publish('different message type')

rclpy/test/test_node.py

@@ -34,7 +34,6 @@
 from rclpy.qos import qos_profile_sensor_data
 from test_msgs.msg import BasicTypes
 
-
 TEST_NODE = 'my_node'
 TEST_NAMESPACE = '/my_ns'
 
@@ -63,7 +62,6 @@ def test_accessors(self):
         self.assertEqual(self.node.get_clock().clock_type, ClockType.ROS_TIME)
 
     def test_create_publisher(self):
-        self.node.create_publisher(BasicTypes, 'chatter')
         self.node.create_publisher(BasicTypes, 'chatter', 0)
         self.node.create_publisher(BasicTypes, 'chatter', 1)
         self.node.create_publisher(BasicTypes, 'chatter', qos_profile_sensor_data)
@@ -79,7 +77,6 @@ def test_create_publisher(self):
             self.node.create_publisher(BasicTypes, 'chatter', 'foo')
 
     def test_create_subscription(self):
-        self.node.create_subscription(BasicTypes, 'chatter', lambda msg: print(msg))
         self.node.create_subscription(BasicTypes, 'chatter', lambda msg: print(msg), 0)
         self.node.create_subscription(BasicTypes, 'chatter', lambda msg: print(msg), 1)
         self.node.create_subscription(
@@ -108,6 +105,7 @@ def test_create_raw_subscription(self):
             BasicTypes,
             'raw_subscription_test',
             self.raw_subscription_callback,
+            1,
             raw=True
         )
         basic_types_msg = BasicTypes()
@@ -216,15 +214,15 @@ def test_count_publishers_subscribers(self):
         self.assertEqual(0, self.node.count_publishers(fq_topic_name))
         self.assertEqual(0, self.node.count_subscribers(fq_topic_name))
 
-        self.node.create_publisher(BasicTypes, short_topic_name)
+        self.node.create_publisher(BasicTypes, short_topic_name, 1)
         self.assertEqual(1, self.node.count_publishers(short_topic_name))
         self.assertEqual(1, self.node.count_publishers(fq_topic_name))
 
-        self.node.create_subscription(BasicTypes, short_topic_name, lambda msg: print(msg))
+        self.node.create_subscription(BasicTypes, short_topic_name, lambda msg: print(msg), 1)
         self.assertEqual(1, self.node.count_subscribers(short_topic_name))
         self.assertEqual(1, self.node.count_subscribers(fq_topic_name))
 
-        self.node.create_subscription(BasicTypes, short_topic_name, lambda msg: print(msg))
+        self.node.create_subscription(BasicTypes, short_topic_name, lambda msg: print(msg), 1)
         self.assertEqual(2, self.node.count_subscribers(short_topic_name))
         self.assertEqual(2, self.node.count_subscribers(fq_topic_name))
 

rclpy/test/test_time_source.py

@@ -46,7 +46,7 @@ def tearDown(self):
         rclpy.shutdown(context=self.context)
 
     def publish_clock_messages(self):
-        clock_pub = self.node.create_publisher(rosgraph_msgs.msg.Clock, CLOCK_TOPIC)
+        clock_pub = self.node.create_publisher(rosgraph_msgs.msg.Clock, CLOCK_TOPIC, 1)
         cycle_count = 0
         time_msg = rosgraph_msgs.msg.Clock()
         while rclpy.ok(context=self.context) and cycle_count < 5:
@@ -59,7 +59,7 @@ def publish_clock_messages(self):
             time.sleep(1)
 
     def publish_reversed_clock_messages(self):
-        clock_pub = self.node.create_publisher(rosgraph_msgs.msg.Clock, CLOCK_TOPIC)
+        clock_pub = self.node.create_publisher(rosgraph_msgs.msg.Clock, CLOCK_TOPIC, 1)
         cycle_count = 0
         time_msg = rosgraph_msgs.msg.Clock()
         while rclpy.ok(context=self.context) and cycle_count < 5:

rclpy/test/test_waitable.py

@@ -349,7 +349,7 @@ def test_waitable_with_timer(self):
     def test_waitable_with_subscription(self):
         self.waitable = SubscriptionWaitable(self.node)
         self.node.add_waitable(self.waitable)
-        pub = self.node.create_publisher(EmptyMsg, 'test_topic')
+        pub = self.node.create_publisher(EmptyMsg, 'test_topic', 1)
 
         thr = self.start_spin_thread(self.waitable)
         pub.publish(EmptyMsg())