Replace deprecated spin_until_future_complete with spin_until_complete

Signed-off-by: Hubert Liberacki <[email protected]>

Author: hliberacki

launch_testing/launch_testing_examples/launch_testing_examples/set_param_launch_test.py

@@ -52,17 +52,19 @@ def test_set_parameter(self, proc_output):
 
 
 def set_parameter(dummy_node, value=True, timeout=5.0):
-    parameters = [rclpy.Parameter('demo_parameter_1', value=value).to_parameter_msg()]
+    parameters = [rclpy.Parameter(
+        'demo_parameter_1', value=value).to_parameter_msg()]
 
-    client = dummy_node.create_client(SetParameters, 'demo_node_1/set_parameters')
+    client = dummy_node.create_client(
+        SetParameters, 'demo_node_1/set_parameters')
     ready = client.wait_for_service(timeout_sec=timeout)
     if not ready:
         raise RuntimeError('Wait for service timed out')
 
     request = SetParameters.Request()
     request.parameters = parameters
     future = client.call_async(request)
-    rclpy.spin_until_future_complete(dummy_node, future, timeout_sec=timeout)
+    rclpy.spin_until_complete(dummy_node, future, timeout_sec=timeout)
 
     response = future.result()
     return response.results[0]

rclcpp/actions/minimal_action_client/not_composable.cpp

@@ -41,7 +41,7 @@ int main(int argc, char ** argv)
   RCLCPP_INFO(node->get_logger(), "Sending goal");
   // Ask server to achieve some goal and wait until it's accepted
   auto goal_handle_future = action_client->async_send_goal(goal_msg);
-  if (rclcpp::spin_until_future_complete(node, goal_handle_future) !=
+  if (rclcpp::spin_until_complete(node, goal_handle_future) !=
     rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node->get_logger(), "send goal call failed :(");
@@ -58,7 +58,7 @@ int main(int argc, char ** argv)
   auto result_future = action_client->async_get_result(goal_handle);
 
   RCLCPP_INFO(node->get_logger(), "Waiting for result");
-  if (rclcpp::spin_until_future_complete(node, result_future) !=
+  if (rclcpp::spin_until_complete(node, result_future) !=
     rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node->get_logger(), "get result call failed :(");

rclcpp/actions/minimal_action_client/not_composable_with_cancel.cpp

@@ -40,7 +40,7 @@ int main(int argc, char ** argv)
   RCLCPP_INFO(node->get_logger(), "Sending goal");
   // Send goal and wait for result (registering feedback callback is optional)
   auto goal_handle_future = action_client->async_send_goal(goal_msg);
-  if (rclcpp::spin_until_future_complete(node, goal_handle_future) !=
+  if (rclcpp::spin_until_complete(node, goal_handle_future) !=
     rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node->get_logger(), "send goal call failed :(");
@@ -56,7 +56,7 @@ int main(int argc, char ** argv)
   // Wait for the server to be done with the goal
   auto result_future = action_client->async_get_result(goal_handle);
 
-  auto wait_result = rclcpp::spin_until_future_complete(
+  auto wait_result = rclcpp::spin_until_complete(
     node,
     result_future,
     std::chrono::seconds(3));
@@ -65,7 +65,7 @@ int main(int argc, char ** argv)
     RCLCPP_INFO(node->get_logger(), "canceling goal");
     // Cancel the goal since it is taking too long
     auto cancel_result_future = action_client->async_cancel_goal(goal_handle);
-    if (rclcpp::spin_until_future_complete(node, cancel_result_future) !=
+    if (rclcpp::spin_until_complete(node, cancel_result_future) !=
       rclcpp::FutureReturnCode::SUCCESS)
     {
       RCLCPP_ERROR(node->get_logger(), "failed to cancel goal");
@@ -80,7 +80,7 @@ int main(int argc, char ** argv)
   }
 
   RCLCPP_INFO(node->get_logger(), "Waiting for result");
-  if (rclcpp::spin_until_future_complete(node, result_future) !=
+  if (rclcpp::spin_until_complete(node, result_future) !=
     rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node->get_logger(), "get result call failed :(");

rclcpp/actions/minimal_action_client/not_composable_with_feedback.cpp

@@ -56,7 +56,7 @@ int main(int argc, char ** argv)
   send_goal_options.feedback_callback = feedback_callback;
   auto goal_handle_future = action_client->async_send_goal(goal_msg, send_goal_options);
 
-  if (rclcpp::spin_until_future_complete(g_node, goal_handle_future) !=
+  if (rclcpp::spin_until_complete(g_node, goal_handle_future) !=
     rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(g_node->get_logger(), "send goal call failed :(");
@@ -73,7 +73,7 @@ int main(int argc, char ** argv)
   auto result_future = action_client->async_get_result(goal_handle);
 
   RCLCPP_INFO(g_node->get_logger(), "Waiting for result");
-  if (rclcpp::spin_until_future_complete(g_node, result_future) !=
+  if (rclcpp::spin_until_complete(g_node, result_future) !=
     rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(g_node->get_logger(), "get result call failed :(");

rclcpp/services/async_client/main.cpp

@@ -168,7 +168,7 @@ int main(int argc, char * argv[])
     [stop_token = stop_async_spinner.get_future(), node]() {
       rclcpp::executors::SingleThreadedExecutor executor;
       executor.add_node(node);
-      executor.spin_until_future_complete(stop_token);
+      executor.spin_until_complete(stop_token);
     });
   while (1) {
     std::string buffer;

rclcpp/services/minimal_client/main.cpp

@@ -37,7 +37,7 @@ int main(int argc, char * argv[])
   request->a = 41;
   request->b = 1;
   auto result_future = client->async_send_request(request);
-  if (rclcpp::spin_until_future_complete(node, result_future) !=
+  if (rclcpp::spin_until_complete(node, result_future) !=
     rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node->get_logger(), "service call failed :(");

rclpy/actions/minimal_action_client/examples_rclpy_minimal_action_client/client_not_composable.py

@@ -43,7 +43,7 @@ def main(args=None):
     send_goal_future = action_client.send_goal_async(
         goal_msg, feedback_callback=lambda feedback: feedback_cb(node.get_logger(), feedback))
 
-    rclpy.spin_until_future_complete(node, send_goal_future)
+    rclpy.spin_until_complete(node, send_goal_future)
 
     goal_handle = send_goal_future.result()
 
@@ -58,15 +58,16 @@ def main(args=None):
 
     get_result_future = goal_handle.get_result_async()
 
-    rclpy.spin_until_future_complete(node, get_result_future)
+    rclpy.spin_until_complete(node, get_result_future)
 
     result = get_result_future.result().result
     status = get_result_future.result().status
     if status == GoalStatus.STATUS_SUCCEEDED:
         node.get_logger().info(
-           'Goal succeeded! Result: {0}'.format(result.sequence))
+            'Goal succeeded! Result: {0}'.format(result.sequence))
     else:
-        node.get_logger().info('Goal failed with status code: {0}'.format(status))
+        node.get_logger().info(
+            'Goal failed with status code: {0}'.format(status))
 
     action_client.destroy()
     node.destroy_node()

rclpy/services/minimal_client/examples_rclpy_minimal_client/client.py

@@ -29,7 +29,7 @@ def main(args=None):
         node.get_logger().info('service not available, waiting again...')
 
     future = cli.call_async(req)
-    rclpy.spin_until_future_complete(node, future)
+    rclpy.spin_until_complete(node, future)
 
     result = future.result()
     node.get_logger().info(