Deprecate tf.publish_rate parameter for pose_broadcaster (#1614)

Author: Amronos

pose_broadcaster/include/pose_broadcaster/pose_broadcaster.hpp

@@ -63,8 +63,10 @@ class PoseBroadcaster : public controller_interface::ControllerInterface
   std::unique_ptr<realtime_tools::RealtimePublisher<geometry_msgs::msg::PoseStamped>>
     realtime_publisher_;
 
+  // TODO(amronos): Remove these two member variables
   std::optional<rclcpp::Duration> tf_publish_period_;
   rclcpp::Time tf_last_publish_time_{0, 0, RCL_CLOCK_UNINITIALIZED};
+
   rclcpp::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr tf_publisher_;
   std::unique_ptr<realtime_tools::RealtimePublisher<tf2_msgs::msg::TFMessage>>
     realtime_tf_publisher_;

pose_broadcaster/src/pose_broadcaster.cpp

@@ -78,10 +78,21 @@ controller_interface::CallbackReturn PoseBroadcaster::on_configure(
   params_ = param_listener_->get_params();
 
   pose_sensor_ = std::make_unique<semantic_components::PoseSensor>(params_.pose_name);
-  tf_publish_period_ =
-    params_.tf.publish_rate == 0.0
-      ? std::nullopt
-      : std::optional{rclcpp::Duration::from_seconds(1.0 / params_.tf.publish_rate)};
+
+  // TODO(amronos): Remove this check and its contents
+  if (params_.tf.publish_rate == 0.0)
+  {
+    tf_publish_period_ = std::nullopt;
+  }
+  else
+  {
+    tf_publish_period_ =
+      std::optional{rclcpp::Duration::from_seconds(1.0 / params_.tf.publish_rate)};
+    RCLCPP_WARN(
+      get_node()->get_logger(),
+      "[deprecated] tf.publish_rate parameter is deprecated, please set the value to 0.0. "
+      "The publish rate of TF messages should not be limited.");
+  }
 
   try
   {
@@ -170,6 +181,7 @@ controller_interface::return_type PoseBroadcaster::update(
       pose.position.z, pose.orientation.x, pose.orientation.y, pose.orientation.z,
       pose.orientation.w);
   }
+  // TODO(amronos): Remove publish rate functionality
   else if (realtime_tf_publisher_ && realtime_tf_publisher_->trylock())
   {
     bool do_publish = false;

pose_broadcaster/src/pose_broadcaster_parameters.yaml

@@ -23,10 +23,11 @@ pose_broadcaster:
       default_value: ""
       description: "Child frame id of published tf transforms. Defaults to ``pose_name`` if left
       empty."
+    # TODO(amronos): Remove this parameter as it is deprecated
     publish_rate:
       type: double
       default_value: 0.0
       description: "Rate to limit publishing of tf transforms to (Hz). If set to 0, no limiting is
-      performed."
+      performed. This parameter is deprecated and limiting should not be performed."
       validation:
         gt_eq<>: 0.0