Replace deprecated spin_until_future_complete with spin_until_complete

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

Author: hliberacki

tf2_ros/test/test_buffer_server.cpp

@@ -175,7 +175,7 @@ TEST_F(TestBufferServer, lookup_transform_available)
   transform.rotation.w = 1.0;
   setTransform("test_target_link", "test_source_link", transform);
 
-  auto spin_result = executor_.spin_until_future_complete(
+  auto spin_result = executor_.spin_until_complete(
     result_ready_future, std::chrono::seconds(3));
   ASSERT_EQ(spin_result, rclcpp::FutureReturnCode::SUCCESS);
 
@@ -192,7 +192,7 @@ TEST_F(TestBufferServer, lookup_transform_timeout)
     "test_target_link", "test_source_link", std::chrono::seconds(1));
 
   auto start_time = std::chrono::system_clock::now();
-  auto spin_result = executor_.spin_until_future_complete(
+  auto spin_result = executor_.spin_until_complete(
     result_ready_future, std::chrono::seconds(3));
   ASSERT_EQ(spin_result, rclcpp::FutureReturnCode::SUCCESS);
   auto end_time = std::chrono::system_clock::now();
@@ -213,7 +213,7 @@ TEST_F(TestBufferServer, lookup_transform_delayed)
     "test_target_link", "test_source_link", std::chrono::seconds(5));
 
   // Expect executor to timeout since transform is not available yet
-  auto spin_result = executor_.spin_until_future_complete(
+  auto spin_result = executor_.spin_until_complete(
     result_ready_future, std::chrono::seconds(1));
   EXPECT_EQ(spin_result, rclcpp::FutureReturnCode::TIMEOUT);
 
@@ -228,7 +228,7 @@ TEST_F(TestBufferServer, lookup_transform_delayed)
   setTransform("test_target_link", "test_source_link", transform);
 
   // Wait some more
-  spin_result = executor_.spin_until_future_complete(
+  spin_result = executor_.spin_until_complete(
     result_ready_future, std::chrono::seconds(3));
   ASSERT_EQ(spin_result, rclcpp::FutureReturnCode::SUCCESS);
 

tf2_tools/tf2_tools/view_frames.py

@@ -48,7 +48,7 @@ def main():
     parser.add_argument(
         '--wait-time', '-t', type=float, default=5.0,
         help='Listen to the /tf topic for this many seconds before rendering the frame tree')
-    parser.add_argument('-o','--output', help='Output filename')
+    parser.add_argument('-o', '--output', help='Output filename')
     parsed_args = parser.parse_args(args=args_without_ros[1:])
 
     node = rclpy.create_node('view_frames')
@@ -60,7 +60,8 @@ def main():
     executor.add_node(node)
 
     # listen to tf for 5 seconds
-    node.get_logger().info(f'Listening to tf data for {parsed_args.wait_time} seconds...')
+    node.get_logger().info(
+        f'Listening to tf data for {parsed_args.wait_time} seconds...')
     start_time = time.time()
     while (time.time() - start_time) < parsed_args.wait_time:
         rclpy.spin_once(node, timeout_sec=0.1)
@@ -73,7 +74,7 @@ def main():
         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)
 
     ret = 1
     try:
@@ -83,20 +84,21 @@ def main():
         node.get_logger().error('Service call failed %r' % (e,))
     else:
         node.get_logger().info(
-            'Result:'+ str(result) )
+            'Result:' + str(result))
         data = yaml.safe_load(result.frame_yaml)
-        
+
         if parsed_args.output is not None:
             frames_gv = '{:s}.gv'.format(parsed_args.output)
             frames_pdf = '{:s}.pdf'.format(parsed_args.output)
         else:
             datetime = time.strftime('%Y-%m-%d_%H.%M.%S')
             frames_gv = 'frames_{:s}.gv'.format(datetime)
             frames_pdf = 'frames_{:s}.pdf'.format(datetime)
-        
+
         with open(frames_gv, 'w') as f:
-            f.write(generate_dot(data, node.get_clock().now().seconds_nanoseconds()))
-        
+            f.write(generate_dot(
+                data, node.get_clock().now().seconds_nanoseconds()))
+
         cmd = ['dot', '-Tpdf', frames_gv, '-o', frames_pdf]
         subprocess.Popen(cmd).communicate()
     finally:
@@ -105,6 +107,7 @@ def main():
         rclpy.shutdown()
         return ret
 
+
 def generate_dot(data, recorded_time):
     if len(data) == 0:
         return 'digraph G { "No tf data received" }'
@@ -117,14 +120,16 @@ def generate_dot(data, recorded_time):
         dot += 'Broadcaster: '+map['broadcaster']+'\\n'
         dot += 'Average rate: '+str(map['rate'])+'\\n'
         dot += 'Buffer length: '+str(map['buffer_length'])+'\\n'
-        dot += 'Most recent transform: '+str(map['most_recent_transform'])+'\\n'
+        dot += 'Most recent transform: ' + \
+            str(map['most_recent_transform'])+'\\n'
         dot += 'Oldest transform: '+str(map['oldest_transform'])+'\\n'
         dot += '"];\n'
         if not map['parent'] in data:
             root = map['parent']
     dot += 'edge [style=invis];\n'
     dot += ' subgraph cluster_legend { style=bold; color=black; label ="view_frames Result";\n'
-    dot += '"Recorded at time: '+str(recorded_time[0]+recorded_time[1]/1e9)+'"[ shape=plaintext ] ;\n'
+    dot += '"Recorded at time: ' + \
+        str(recorded_time[0]+recorded_time[1]/1e9)+'"[ shape=plaintext ] ;\n'
     dot += '}->"'+root+'";\n}'
     return dot