Deprecate also for steering_controllers

ros-controls · Apr 4, 2024 · f3920d3 · f3920d3
1 parent cb2471e
commit f3920d3
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Showing 3 changed files with 5 additions and 5 deletions.
diff --git a/steering_controllers_library/doc/userdoc.rst b/steering_controllers_library/doc/userdoc.rst
@@ -13,7 +13,7 @@ Nomenclature used for the controller is used from `wikipedia <https://en.wikiped
 Execution logic of the controller
 ----------------------------------
 
-The controller uses velocity input, i.e., stamped or unstamped Twist messages where linear ``x`` and angular ``z`` components are used.
+The controller uses velocity input, i.e., stamped Twist messages where linear ``x`` and angular ``z`` components are used.
 Angular component under
 Values in other components are ignored.
 In the chain mode the controller provides two reference interfaces, one for linear velocity and one for steering angle position.
@@ -74,9 +74,6 @@ Subscribers
 Used when controller is not in chained mode (``in_chained_mode == false``).
 
 - <controller_name>/reference  [geometry_msgs/msg/TwistStamped]
-  If parameter ``use_stamped_vel`` is ``true``.
-- <controller_name>/reference_unstamped   [geometry_msgs/msg/Twist]
-  If parameter ``use_stamped_vel`` is ``false``.
 
 Publishers
 ,,,,,,,,,,,

diff --git a/steering_controllers_library/src/steering_controllers_library.cpp b/steering_controllers_library/src/steering_controllers_library.cpp
@@ -116,6 +116,9 @@ controller_interface::CallbackReturn SteeringControllersLibrary::on_configure(
   ref_timeout_ = rclcpp::Duration::from_seconds(params_.reference_timeout);
   if (params_.use_stamped_vel)
   {
+    RCLCPP_WARN(
+      get_node()->get_logger(),
+      "[Deprecated] Using geometry_msgs::msg::Twist instead of TwistStamped is deprecated.");
     ref_subscriber_twist_ = get_node()->create_subscription<ControllerTwistReferenceMsg>(
       "~/reference", subscribers_qos,
       std::bind(&SteeringControllersLibrary::reference_callback, this, std::placeholders::_1));

diff --git a/steering_controllers_library/src/steering_controllers_library.yaml b/steering_controllers_library/src/steering_controllers_library.yaml
@@ -116,7 +116,7 @@ steering_controllers_library:
   use_stamped_vel: {
     type: bool,
     default_value: false,
-    description: "Choice of vel type, if use_stamped_vel is false then ``geometry_msgs::msg::Twist`` is taken as vel msg type, if
+    description: "(Deprecated) Choice of vel type, if use_stamped_vel is false then ``geometry_msgs::msg::Twist`` is taken as vel msg type, if
     use_stamped_vel is true then ``geometry_msgs::msg::TwistStamped`` is taken as vel msg type",
     read_only: false,
   }