Removed deprecated API (#160)

Signed-off-by: Alejandro Hernandez Cordero <ahcorde@gmail.com>

Author: ahcorde

point_cloud_transport/include/point_cloud_transport/point_cloud_transport.hpp

@@ -95,39 +95,6 @@ class PointCloudTransportLoader
   point_cloud_transport::SubLoaderPtr sub_loader_;
 };
 
-/// \brief Advertise every available transport on pointcloud topics, free function version.
-/// \param node The ROS node to use for any ROS operations
-/// \param base_topic The base topic for the publisher
-/// \param custom_qos The QoS profile to use for the underlying publisher(s)
-/// \param options The publisher options to use for the underlying publisher(s)
-/// \return The advertised publisher
-[[deprecated("Use create_publisher(rclcpp::node_interfaces...) instead")]]
-POINT_CLOUD_TRANSPORT_PUBLIC
-Publisher create_publisher(
-  std::shared_ptr<rclcpp::Node> node,
-  const std::string & base_topic,
-  rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
-  const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions());
-
-/// \brief Advertise every available transport on pointcloud topics, free function version.
-/// \param node_interfaces the ROS node interfaces required for core node functionality, including
-///    NodeBaseInterface, NodeParametersInterface, NodeTopicsInterface, and NodeLoggingInterface.
-/// \param base_topic The base topic for the publisher
-/// \param custom_qos The QoS profile to use for the underlying publisher(s)
-/// \param options The publisher options to use for the underlying publisher(s)
-/// \return The advertised publisher
-[[deprecated("Use create_publisher(rclcpp::node_interfaces..., rclcpp::QoS, ...) instead")]]
-POINT_CLOUD_TRANSPORT_PUBLIC
-Publisher create_publisher(
-  std::shared_ptr<rclcpp::node_interfaces::NodeInterfaces<
-    rclcpp::node_interfaces::NodeBaseInterface,
-    rclcpp::node_interfaces::NodeParametersInterface,
-    rclcpp::node_interfaces::NodeTopicsInterface,
-    rclcpp::node_interfaces::NodeLoggingInterface>> & node_interfaces,
-  const std::string & base_topic,
-  rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
-  const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions());
-
 /// \brief Advertise every available transport on pointcloud topics, free function version.
 /// \param node_interfaces the ROS node interfaces required for core node functionality, including
 ///    NodeBaseInterface, NodeParametersInterface, NodeTopicsInterface, and NodeLoggingInterface.
@@ -146,47 +113,6 @@ Publisher create_publisher(
   rclcpp::QoS custom_qos,
   const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions());
 
-/// \brief Subscribe to a pointcloud transport topic, free function version.
-/// \param node The ROS node to use for any ROS operations
-/// \param base_topic The base topic for the subscription
-/// \param callback The callback to invoke on receipt of a message
-/// \param transport The transport to use for the subscription
-/// \param custom_qos The QoS profile to use for the underlying publisher
-/// \param options The publisher options to use for the underlying publisher
-/// \return The subscriber
-[[deprecated("Use create_subscription(rclcpp::node_interfaces...) instead")]]
-POINT_CLOUD_TRANSPORT_PUBLIC
-Subscriber create_subscription(
-  std::shared_ptr<rclcpp::Node> node,
-  const std::string & base_topic,
-  const Subscriber::Callback & callback,
-  const std::string & transport,
-  rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
-  rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
-
-/// \brief Subscribe to a pointcloud transport topic, free function version.
-/// \param node_interfaces the ROS node interfaces required for core node functionality, including
-///    NodeBaseInterface, NodeParametersInterface, NodeTopicsInterface, and NodeLoggingInterface.
-/// \param base_topic The base topic for the subscription
-/// \param callback The callback to invoke on receipt of a message
-/// \param transport The transport to use for the subscription
-/// \param custom_qos The QoS profile to use for the underlying publisher
-/// \param options The publisher options to use for the underlying publisher
-/// \return The subscriber
-[[deprecated("Use create_subscription(rclcpp::node_interfaces..., rclcpp::QoS, ...) instead")]]
-POINT_CLOUD_TRANSPORT_PUBLIC
-Subscriber create_subscription(
-  std::shared_ptr<rclcpp::node_interfaces::NodeInterfaces<
-    rclcpp::node_interfaces::NodeBaseInterface,
-    rclcpp::node_interfaces::NodeParametersInterface,
-    rclcpp::node_interfaces::NodeTopicsInterface,
-    rclcpp::node_interfaces::NodeLoggingInterface>> & node_interfaces,
-  const std::string & base_topic,
-  const Subscriber::Callback & callback,
-  const std::string & transport,
-  rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
-  rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions());
-
 /// \brief Subscribe to a pointcloud transport topic, free function version.
 /// \param node_interfaces the ROS node interfaces required for core node functionality, including
 ///    NodeBaseInterface, NodeParametersInterface, NodeTopicsInterface, and NodeLoggingInterface.
@@ -218,10 +144,6 @@ class PointCloudTransport : public PointCloudTransportLoader
 
 public:
   //! Constructor
-  [[deprecated("Use PointCloudTransport(rclcpp::node_interfaces...) instead")]]
-  POINT_CLOUD_TRANSPORT_PUBLIC
-  explicit PointCloudTransport(rclcpp::Node::SharedPtr node);
-
   POINT_CLOUD_TRANSPORT_PUBLIC
   explicit PointCloudTransport(
     rclcpp::node_interfaces::NodeInterfaces<
@@ -267,17 +189,6 @@ class PointCloudTransport : public PointCloudTransportLoader
     return Publisher(node_interfaces_, base_topic, pub_loader_, custom_qos, options);
   }
 
-  [[deprecated("Use advertise(..., rclcpp::QoS custom_qos, ...) instead")]]
-  POINT_CLOUD_TRANSPORT_PUBLIC
-  Publisher advertise(
-    const std::string & base_topic,
-    rmw_qos_profile_t custom_qos,
-    const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions())
-  {
-    return Publisher(node_interfaces_, base_topic, pub_loader_,
-        rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos), options);
-  }
-
   POINT_CLOUD_TRANSPORT_PUBLIC
   Publisher advertise(
     const std::string & base_topic,
@@ -287,23 +198,6 @@ class PointCloudTransport : public PointCloudTransportLoader
     return Publisher(node_interfaces_, base_topic, pub_loader_, custom_qos, options);
   }
 
-  //! Subscribe to a point cloud topic, version for arbitrary std::function object.
-  [[deprecated("Use subscribe(..., rclcpp::QoS custom_qos, ...) instead")]]
-  POINT_CLOUD_TRANSPORT_PUBLIC
-  point_cloud_transport::Subscriber subscribe(
-    const std::string & base_topic, rmw_qos_profile_t custom_qos,
-    const std::function<void(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &)> & callback,
-    const VoidPtr & tracked_object = {},
-    const point_cloud_transport::TransportHints * transport_hints = nullptr,
-    rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
-  {
-    (void)tracked_object;
-    return Subscriber(
-      node_interfaces_, base_topic, callback, sub_loader_,
-      getTransportOrDefault(transport_hints),
-        rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos), options);
-  }
-
   //! Subscribe to a point cloud topic, version for arbitrary std::function object.
   POINT_CLOUD_TRANSPORT_PUBLIC
   point_cloud_transport::Subscriber subscribe(
@@ -334,20 +228,6 @@ class PointCloudTransport : public PointCloudTransportLoader
       base_topic, custom_qos, callback, tracked_object, transport_hints, options);
   }
 
-  [[deprecated("Use subscribe(..., rclcpp::QoS custom_qos, ...) instead")]]
-  POINT_CLOUD_TRANSPORT_PUBLIC
-  point_cloud_transport::Subscriber subscribe(
-    const std::string & base_topic, rmw_qos_profile_t custom_qos,
-    void (* fp)(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &),
-    const point_cloud_transport::TransportHints * transport_hints = nullptr,
-    rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
-  {
-    return subscribe(
-      base_topic, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos),
-      std::function<void(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &)>(fp),
-      VoidPtr(), transport_hints, options);
-  }
-
   POINT_CLOUD_TRANSPORT_PUBLIC
   point_cloud_transport::Subscriber subscribe(
     const std::string & base_topic, rclcpp::QoS custom_qos,
@@ -374,22 +254,6 @@ class PointCloudTransport : public PointCloudTransportLoader
       VoidPtr(), transport_hints, options);
   }
 
-  //! Subscribe to a point cloud topic, version for class member function with bare pointer.
-  template<class T>
-  [[deprecated("Use subscribe(..., rclcpp::QoS custom_qos, ...) instead")]]
-  point_cloud_transport::Subscriber subscribe(
-    const std::string & base_topic, rmw_qos_profile_t custom_qos,
-    void (T::* fp)(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &) const, T * obj,
-    const point_cloud_transport::TransportHints * transport_hints = nullptr,
-    rclcpp::SubscriptionOptions options = rclcpp::SubscriptionOptions())
-  {
-    return subscribe(
-      base_topic, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos),
-        std::bind(
-        fp,
-        obj, std::placeholders::_1), VoidPtr(), transport_hints, options);
-  }
-
   //! Subscribe to a point cloud topic, version for class member function with bare pointer.
   template<class T>
   point_cloud_transport::Subscriber subscribe(
@@ -417,23 +281,6 @@ class PointCloudTransport : public PointCloudTransportLoader
         obj, std::placeholders::_1), VoidPtr(), transport_hints, options);
   }
 
-  //! Subscribe to a point cloud topic, version for class member function with shared_ptr.
-  template<class T>
-  [[deprecated("Use subscribe(..., rclcpp::QoS custom_qos, ...) instead")]]
-  point_cloud_transport::Subscriber subscribe(
-    const std::string & base_topic, rmw_qos_profile_t custom_qos,
-    void (T::* fp)(const sensor_msgs::msg::PointCloud2::ConstSharedPtr &) const,
-    const std::shared_ptr<T> & obj,
-    const point_cloud_transport::TransportHints * transport_hints = nullptr,
-    const rclcpp::SubscriptionOptions & options = rclcpp::SubscriptionOptions())
-  {
-    return subscribe(
-      base_topic, rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos),
-        std::bind(
-        fp,
-        obj, std::placeholders::_1), obj, transport_hints, options);
-  }
-
   //! Subscribe to a point cloud topic, version for class member function with shared_ptr.
   template<class T>
   point_cloud_transport::Subscriber subscribe(

point_cloud_transport/include/point_cloud_transport/publisher.hpp

@@ -57,35 +57,6 @@ class Publisher
   POINT_CLOUD_TRANSPORT_PUBLIC
   Publisher() = default;
 
-  [[deprecated("Use Publisher(rclcpp::node_interfaces...) instead")]]
-  POINT_CLOUD_TRANSPORT_PUBLIC
-  Publisher(
-    std::shared_ptr<rclcpp::Node> node,
-    const std::string & base_topic,
-    PubLoaderPtr loader,
-    rmw_qos_profile_t custom_qos,
-    const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions())
-  : Publisher(
-      *node,
-      base_topic,
-      loader,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos),
-      options)
-  {}
-
-  [[deprecated("Use Publisher(rclcpp::node_interfaces, ..., rclcpp::QoS custom_qos,...) instead")]]
-  POINT_CLOUD_TRANSPORT_PUBLIC
-  Publisher(
-    std::shared_ptr<rclcpp::node_interfaces::NodeInterfaces<
-      rclcpp::node_interfaces::NodeBaseInterface,
-      rclcpp::node_interfaces::NodeParametersInterface,
-      rclcpp::node_interfaces::NodeTopicsInterface,
-      rclcpp::node_interfaces::NodeLoggingInterface>> node_interfaces,
-    const std::string & base_topic,
-    PubLoaderPtr loader,
-    rmw_qos_profile_t custom_qos,
-    const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions());
-
   POINT_CLOUD_TRANSPORT_PUBLIC
   Publisher(
     rclcpp::node_interfaces::NodeInterfaces<

point_cloud_transport/include/point_cloud_transport/publisher_plugin.hpp

@@ -89,26 +89,6 @@ class PublisherPlugin
   virtual std::string getMessageType() const;
 
   //! \brief Advertise a topic, simple version.
-  [[deprecated("Use advertise(rclcpp::node_interfaces...) instead")]]
-  POINT_CLOUD_TRANSPORT_PUBLIC
-  void advertise(
-    std::shared_ptr<rclcpp::Node> node,
-    const std::string & base_topic,
-    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
-    const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions());
-
-  [[deprecated("Use advertise(rclcpp::node_interfaces, ..., rclcpp::QoS, ...) instead")]]
-  POINT_CLOUD_TRANSPORT_PUBLIC
-  void advertise(
-    std::shared_ptr<rclcpp::node_interfaces::NodeInterfaces<
-      rclcpp::node_interfaces::NodeBaseInterface,
-      rclcpp::node_interfaces::NodeParametersInterface,
-      rclcpp::node_interfaces::NodeTopicsInterface,
-      rclcpp::node_interfaces::NodeLoggingInterface>> node_interfaces,
-    const std::string & base_topic,
-    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
-    const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions());
-
   POINT_CLOUD_TRANSPORT_PUBLIC
   void advertise(
     rclcpp::node_interfaces::NodeInterfaces<
@@ -166,36 +146,6 @@ class PublisherPlugin
 
 protected:
   //! Advertise a topic. Must be implemented by the subclass.
-  [[deprecated("Use advertiseImpl(rclcpp::node_interfaces...) instead")]]
-  virtual void advertiseImpl(
-    std::shared_ptr<rclcpp::Node> node, const std::string & base_topic,
-    rmw_qos_profile_t custom_qos,
-    const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions())
-  {
-    advertiseImpl(
-      *node,
-      base_topic,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos),
-      options);
-  }
-
-  [[deprecated("Use advertiseImpl(rclcpp::node_interfaces..., rclcpp::QoS, ...) instead")]]
-  virtual void advertiseImpl(
-    std::shared_ptr<rclcpp::node_interfaces::NodeInterfaces<
-      rclcpp::node_interfaces::NodeBaseInterface,
-      rclcpp::node_interfaces::NodeParametersInterface,
-      rclcpp::node_interfaces::NodeTopicsInterface,
-      rclcpp::node_interfaces::NodeLoggingInterface>> node_interfaces,
-    const std::string & base_topic,
-    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
-    const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions())
-  {
-    advertiseImpl(
-      *node_interfaces, base_topic,
-      rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos),
-      options);
-  }
-
   virtual void advertiseImpl(
     rclcpp::node_interfaces::NodeInterfaces<
       rclcpp::node_interfaces::NodeBaseInterface,

point_cloud_transport/include/point_cloud_transport/simple_publisher_plugin.hpp

@@ -222,20 +222,6 @@ class SimplePublisherPlugin : public point_cloud_transport::PublisherPlugin
 protected:
   std::string base_topic_;
 
-  void advertiseImpl(
-    std::shared_ptr<rclcpp::node_interfaces::NodeInterfaces<
-      rclcpp::node_interfaces::NodeBaseInterface,
-      rclcpp::node_interfaces::NodeParametersInterface,
-      rclcpp::node_interfaces::NodeTopicsInterface,
-      rclcpp::node_interfaces::NodeLoggingInterface>> node_interfaces,
-    const std::string & base_topic,
-    rmw_qos_profile_t custom_qos = rmw_qos_profile_default,
-    const rclcpp::PublisherOptions & options = rclcpp::PublisherOptions()) override
-  {
-    advertiseImpl(*node_interfaces, base_topic,
-        rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos), options);
-  }
-
   void advertiseImpl(
     rclcpp::node_interfaces::NodeInterfaces<
       rclcpp::node_interfaces::NodeBaseInterface,

point_cloud_transport/include/point_cloud_transport/simple_subscriber_plugin.hpp

@@ -220,35 +220,6 @@ class SimpleSubscriberPlugin : public SubscriberPlugin
     return base_topic + "/" + getTransportName();
   }
 
-  void subscribeImpl(
-    std::shared_ptr<rclcpp::node_interfaces::NodeInterfaces<
-      rclcpp::node_interfaces::NodeBaseInterface,
-      rclcpp::node_interfaces::NodeParametersInterface,
-      rclcpp::node_interfaces::NodeTopicsInterface,
-      rclcpp::node_interfaces::NodeLoggingInterface>> node_interfaces,
-    const std::string & base_topic,
-    const Callback & callback,
-    rmw_qos_profile_t custom_qos) override
-  {
-    subscribeImpl(*node_interfaces, base_topic, callback,
-        rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos));
-  }
-
-  void subscribeImpl(
-    std::shared_ptr<rclcpp::node_interfaces::NodeInterfaces<
-      rclcpp::node_interfaces::NodeBaseInterface,
-      rclcpp::node_interfaces::NodeParametersInterface,
-      rclcpp::node_interfaces::NodeTopicsInterface,
-      rclcpp::node_interfaces::NodeLoggingInterface>> node_interfaces,
-    const std::string & base_topic,
-    const Callback & callback,
-    rmw_qos_profile_t custom_qos,
-    rclcpp::SubscriptionOptions options) override
-  {
-    subscribeImpl(*node_interfaces, base_topic, callback,
-        rclcpp::QoS(rclcpp::QoSInitialization::from_rmw(custom_qos), custom_qos), options);
-  }
-
   void subscribeImpl(
     rclcpp::node_interfaces::NodeInterfaces<
       rclcpp::node_interfaces::NodeBaseInterface,