Use spin_until_complete instead of deprecated `spin_until_future_co…

…mplete` Signed-off-by: Hubert Liberacki <[email protected]>
ros2 · Jun 3, 2022 · f880a52 · f880a52
1 parent bd49f4b
commit f880a52
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Showing 6 changed files with 8 additions and 8 deletions.
diff --git a/demo_nodes_cpp/src/parameters/list_parameters_async.cpp b/demo_nodes_cpp/src/parameters/list_parameters_async.cpp
@@ -59,13 +59,13 @@ int main(int argc, char ** argv)
     rclcpp::Parameter("foobar", true),
   });
   // Wait for the result.
-  rclcpp::spin_until_future_complete(node, results);
+  rclcpp::spin_until_complete(node, results);
 
   RCLCPP_INFO(node->get_logger(), "Listing parameters...");
   // List the details of a few parameters up to a namespace depth of 10.
   auto parameter_list_future = parameters_client->list_parameters({"foo", "bar"}, 10);
 
-  if (rclcpp::spin_until_future_complete(node, parameter_list_future) !=
+  if (rclcpp::spin_until_complete(node, parameter_list_future) !=
     rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node->get_logger(), "service call failed, exiting tutorial.");

diff --git a/demo_nodes_cpp/src/parameters/parameter_events.cpp b/demo_nodes_cpp/src/parameters/parameter_events.cpp
@@ -122,7 +122,7 @@ int main(int argc, char ** argv)
 
   // TODO(wjwwood): Create and use delete_parameter
 
-  rclcpp::spin_until_future_complete(node, events_received_future.share());
+  rclcpp::spin_until_complete(node, events_received_future.share());
   rclcpp::shutdown();
 
   return 0;

diff --git a/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp b/demo_nodes_cpp/src/parameters/set_and_get_parameters_async.cpp
@@ -58,7 +58,7 @@ int main(int argc, char ** argv)
     rclcpp::Parameter("toto", std::vector<uint8_t>({0xff, 0x7f})),
   });
   // Wait for the results.
-  if (rclcpp::spin_until_future_complete(node, results) !=
+  if (rclcpp::spin_until_complete(node, results) !=
     rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node->get_logger(), "set_parameters service call failed. Exiting tutorial.");
@@ -73,7 +73,7 @@ int main(int argc, char ** argv)
 
   // Get a few of the parameters just set.
   auto parameters = parameters_client->get_parameters({"foo", "baz", "foobarbaz", "toto"});
-  if (rclcpp::spin_until_future_complete(node, parameters) !=
+  if (rclcpp::spin_until_complete(node, parameters) !=
     rclcpp::FutureReturnCode::SUCCESS)
   {
     RCLCPP_ERROR(node->get_logger(), "get_parameters service call failed. Exiting tutorial.");

diff --git a/demo_nodes_cpp/src/services/add_two_ints_client.cpp b/demo_nodes_cpp/src/services/add_two_ints_client.cpp
@@ -29,7 +29,7 @@ example_interfaces::srv::AddTwoInts::Response::SharedPtr send_request(
 {
   auto result = client->async_send_request(request);
   // Wait for the result.
-  if (rclcpp::spin_until_future_complete(node, result) ==
+  if (rclcpp::spin_until_complete(node, result) ==
     rclcpp::FutureReturnCode::SUCCESS)
   {
     return result.get();

diff --git a/demo_nodes_py/demo_nodes_py/services/add_two_ints_client.py b/demo_nodes_py/demo_nodes_py/services/add_two_ints_client.py
@@ -29,7 +29,7 @@ def main(args=None):
     req.a = 2
     req.b = 3
     future = cli.call_async(req)
-    rclpy.spin_until_future_complete(node, future)
+    rclpy.spin_until_complete(node, future)
     if future.result() is not None:
         node.get_logger().info('Result of add_two_ints: %d' % future.result().sum)
     else:

diff --git a/lifecycle/src/lifecycle_service_client.cpp b/lifecycle/src/lifecycle_service_client.cpp
@@ -334,7 +334,7 @@ int main(int argc, char ** argv)
     std::launch::async,
     std::bind(wake_executor, script, std::ref(exe)));
 
-  exe.spin_until_future_complete(script);
+  exe.spin_until_complete(script);
 
   rclcpp::shutdown();