Removing deprecation warnings

git-svn-id: https://code.ros.org/svn/ros-pkg/stacks/laser_pipeline/trunk@35255 eb33c2ac-9c88-4c90-87e0-44a10359b0c3

Author: jleibs-test

examples/periodic_snapshotter.cpp

@@ -89,7 +89,7 @@ class PeriodicSnapshotter
     // Make the service call
     if (client_.call(srv))
     {
-      ROS_INFO("Published Cloud with %u points", srv.response.cloud.get_points_size()) ;
+      ROS_INFO("Published Cloud with %u points", (uint32_t)(srv.response.cloud.points.size())) ;
       pub_.publish(srv.response.cloud);
     }
     else

include/laser_assembler/base_assembler_srv.h

@@ -246,11 +246,11 @@ void BaseAssemblerSrv<T>::scansCallback(const boost::shared_ptr<const T>& scan_p
   scan_hist_mutex_.lock() ;
   if (scan_hist_.size() == max_scans_)                           // Is our deque full?
   {
-    total_pts_ -= scan_hist_.front().get_points_size() ;            // We're removing an elem, so this reduces our total point count
+    total_pts_ -= scan_hist_.front().points.size() ;            // We're removing an elem, so this reduces our total point count
     scan_hist_.pop_front() ;                                     // The front of the deque has the oldest elem, so we can get rid of it
   }
   scan_hist_.push_back(cur_cloud) ;                              // Add the newest scan to the back of the deque
-  total_pts_ += cur_cloud.get_points_size() ;                       // Add the new scan to the running total of points
+  total_pts_ += cur_cloud.points.size() ;                       // Add the new scan to the running total of points
 
   //printf("Scans: %4u  Points: %10u\n", scan_hist_.size(), total_pts_) ;
 
@@ -279,7 +279,7 @@ bool BaseAssemblerSrv<T>::buildCloud(AssembleScans::Request& req, AssembleScans:
   while ( i < scan_hist_.size() &&                                                    // Don't go past end of deque
           scan_hist_[i].header.stamp < req.end )                                      // Don't go past the end-time of the request
   {
-    req_pts += (scan_hist_[i].get_points_size()+downsample_factor_-1)/downsample_factor_ ;
+    req_pts += (scan_hist_[i].points.size()+downsample_factor_-1)/downsample_factor_ ;
     i += downsample_factor_ ;
   }
   unsigned int past_end_index = i ;
@@ -288,27 +288,27 @@ bool BaseAssemblerSrv<T>::buildCloud(AssembleScans::Request& req, AssembleScans:
   {
     resp.cloud.header.frame_id = fixed_frame_ ;
     resp.cloud.header.stamp = req.end ;
-    resp.cloud.set_points_size(0) ;
-    resp.cloud.set_channels_size(0) ;
+    resp.cloud.points.resize(0) ;
+    resp.cloud.channels.resize(0) ;
   }
   else
   {
     // Note: We are assuming that channel information is consistent across multiple scans. If not, then bad things (segfaulting) will happen
     // Allocate space for the cloud
-    resp.cloud.set_points_size( req_pts ) ;
-    const unsigned int num_channels = scan_hist_[start_index].get_channels_size() ;
-    resp.cloud.set_channels_size(num_channels) ;
+    resp.cloud.points.resize( req_pts ) ;
+    const unsigned int num_channels = scan_hist_[start_index].channels.size() ;
+    resp.cloud.channels.resize(num_channels) ;
     for (i = 0; i<num_channels; i++)
     {
       resp.cloud.channels[i].name = scan_hist_[start_index].channels[i].name ;
-      resp.cloud.channels[i].set_values_size(req_pts) ;
+      resp.cloud.channels[i].values.resize(req_pts) ;
     }
     //resp.cloud.header.stamp = req.end ;
     resp.cloud.header.frame_id = fixed_frame_ ;
     unsigned int cloud_count = 0 ;
     for (i=start_index; i<past_end_index; i+=downsample_factor_)
     {
-      for(unsigned int j=0; j<scan_hist_[i].get_points_size(); j+=downsample_factor_)
+      for(unsigned int j=0; j<scan_hist_[i].points.size(); j+=downsample_factor_)
       {
         resp.cloud.points[cloud_count].x = scan_hist_[i].points[j].x ;
         resp.cloud.points[cloud_count].y = scan_hist_[i].points[j].y ;

src/laser_scan_assembler_srv.cpp

@@ -73,7 +73,7 @@ class LaserScanAssemblerSrv : public BaseAssemblerSrv<sensor_msgs::LaserScan>
 
   unsigned int GetPointsInScan(const sensor_msgs::LaserScan& scan)
   {
-    return scan.get_ranges_size();
+    return scan.ranges.size();
   }
 
   void ConvertToCloud(const string& fixed_frame_id, const sensor_msgs::LaserScan& scan_in, sensor_msgs::PointCloud& cloud_out)

src/point_cloud_assembler_srv.cpp

@@ -62,7 +62,7 @@ class PointCloudAssemblerSrv : public BaseAssemblerSrv<sensor_msgs::PointCloud>
 
   unsigned int GetPointsInScan(const sensor_msgs::PointCloud& scan)
   {
-    return scan.get_points_size() ;
+    return scan.points.size() ;
   }
 
   void ConvertToCloud(const string& fixed_frame_id, const sensor_msgs::PointCloud& scan_in, sensor_msgs::PointCloud& cloud_out)

test/test_assembler.cpp

@@ -81,9 +81,9 @@ class TestAssembler : public testing::Test
       assemble_scans.request.begin = start_time_;
       assemble_scans.request.end = scan_msg->header.stamp;
       EXPECT_TRUE(ros::service::call(SERVICE_NAME, assemble_scans));
-      if(assemble_scans.response.cloud.get_points_size() > 0)
+      if(assemble_scans.response.cloud.points.size() > 0)
       {
-        ROS_INFO("Got a cloud with [%u] points. Saving the cloud", assemble_scans.response.cloud.get_points_size());
+        ROS_INFO("Got a cloud with [%u] points. Saving the cloud", (uint32_t)(assemble_scans.response.cloud.points.size()));
         cloud_ = assemble_scans.response.cloud;
         got_cloud_ = true;
         cloud_condition_.notify_all();
@@ -120,7 +120,7 @@ TEST_F(TestAssembler, non_zero_cloud_test)
     cloud_condition_.timed_wait(lock, boost::posix_time::milliseconds(1000.0f));
   }
 
-  EXPECT_LT((unsigned int) 0, cloud_.get_points_size());
+  EXPECT_LT((unsigned int) 0, cloud_.points.size());
 
   SUCCEED();
 }