From 85c7baa82afc0442c716f185218c808792a34436 Mon Sep 17 00:00:00 2001 From: Sanjeev Kumar Date: Sun, 1 Sep 2024 12:06:57 +0200 Subject: [PATCH 1/2] Fix deprecation warning in paramater declaration Updated the paramater declaration in `publisher_forward_position_controller` to resolve a deprecation warning. Changes Made: - Replaced `self.declare_parameter(name)` with `self.declare_parameter(name, descriptor=ParameterDescriptor(dynamic_typing=True))` Fixes: #1239 --- .../publisher_forward_position_controller.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py index 5cf28ac604..2d0cb3bb77 100644 --- a/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py +++ b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py @@ -17,6 +17,7 @@ import rclpy from rclpy.node import Node +from rcl_interfaces.msg import ParameterDescriptor from std_msgs.msg import Float64MultiArray @@ -37,7 +38,7 @@ def __init__(self): # Read all positions from parameters self.goals = [] for name in goal_names: - self.declare_parameter(name) + self.declare_parameter(name, descriptor=ParameterDescriptor(dynamic_typing=True)) goal = self.get_parameter(name).value if goal is None or len(goal) == 0: raise Exception(f'Values for goal "{name}" not set!') From cc4694a257102592b33b6c52b013fab715607397 Mon Sep 17 00:00:00 2001 From: Sanjeev Kumar Date: Mon, 2 Sep 2024 21:29:43 +0200 Subject: [PATCH 2/2] Fix deprecation warning in paramater declaration - implicitly Updated the paramater declaration to include type in `publisher_forward_position_controller` and `publisher_joint_trajectory_controller` Changes Made: - Replaced `self.declare_parameter(name)` with `self.declare_parameter(name, rclpy.Parameter.Type.DOUBLE_ARRAY)` --- .../publisher_forward_position_controller.py | 3 +-- .../publisher_joint_trajectory_controller.py | 4 +--- 2 files changed, 2 insertions(+), 5 deletions(-) diff --git a/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py index 2d0cb3bb77..bb6add77ef 100644 --- a/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py +++ b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_forward_position_controller.py @@ -17,7 +17,6 @@ import rclpy from rclpy.node import Node -from rcl_interfaces.msg import ParameterDescriptor from std_msgs.msg import Float64MultiArray @@ -38,7 +37,7 @@ def __init__(self): # Read all positions from parameters self.goals = [] for name in goal_names: - self.declare_parameter(name, descriptor=ParameterDescriptor(dynamic_typing=True)) + self.declare_parameter(name, rclpy.Parameter.Type.DOUBLE_ARRAY) goal = self.get_parameter(name).value if goal is None or len(goal) == 0: raise Exception(f'Values for goal "{name}" not set!') diff --git a/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py index cb66f58468..27f28da1be 100644 --- a/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py +++ b/ros2_controllers_test_nodes/ros2_controllers_test_nodes/publisher_joint_trajectory_controller.py @@ -18,7 +18,6 @@ import rclpy from rclpy.node import Node from builtin_interfaces.msg import Duration -from rcl_interfaces.msg import ParameterDescriptor from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint from sensor_msgs.msg import JointState @@ -67,8 +66,7 @@ def __init__(self): # Read all positions from parameters self.goals = [] # List of JointTrajectoryPoint for name in goal_names: - self.declare_parameter(name, descriptor=ParameterDescriptor(dynamic_typing=True)) - + self.declare_parameter(name, rclpy.Parameter.Type.DOUBLE_ARRAY) point = JointTrajectoryPoint() def get_sub_param(sub_param):