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Deprecate URDF Spawner #815

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merged 3 commits into from
Jul 7, 2023
Merged

Deprecate URDF Spawner #815

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9c53706
deprecation messages
ygoumaz Jul 6, 2023
7b2f010
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ygoumaz Jul 6, 2023
269a26d
pep8
ygoumaz Jul 7, 2023
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2 changes: 2 additions & 0 deletions webots_ros2_driver/webots_ros2_driver/ros2_supervisor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,8 @@ def __init__(self):
self.create_subscription(String, 'remove_node', self.__remove_imported_node_callback, qos_profile_services_default)

def __spawn_urdf_robot_callback(self, request, response):
# Deprecated, remove in 2024.0.0
self.get_logger().warn('\033[33mThe URDF Spawner is deprecated. Please use the PROTO Spawner instead.\033[0m')
robot = request.robot

robot_name = robot.name if robot.name else ''
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2 changes: 1 addition & 1 deletion webots_ros2_driver/webots_ros2_driver/urdf_spawner.py
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Expand Up @@ -28,7 +28,7 @@ def get_webots_driver_node(event, driver_node):
return


class URDFSpawner(ExecuteProcess):
class URDFSpawner(ExecuteProcess): # Deprecated, remove in 2024.0.0
def __init__(self, output='log', name=None, urdf_path=None, robot_description=None, relative_path_prefix=None,
translation='0 0 0', rotation='0 0 1 0', normal=False, box_collision=False, init_pos=None, **kwargs):
message = '{robot: {'
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