Replace deprecated spin_until_future_complete

ros2action/ros2action/verb/send_goal.py

@@ -117,7 +117,7 @@ def send_goal(action_name, action_type, goal_values, feedback_callback):
 
  print('Sending goal:\n {}'.format(message_to_yaml(goal)))
  goal_future = action_client.send_goal_async(goal, feedback_callback)
- rclpy.spin_until_future_complete(node, goal_future)
+ rclpy.spin_until_complete(node, goal_future)
 
  goal_handle = goal_future.result()
 
@@ -134,7 +134,7 @@ def send_goal(action_name, action_type, goal_values, feedback_callback):
  print('Goal accepted with ID: {}\n'.format(bytes(goal_handle.goal_id.uuid).hex()))
 
  result_future = goal_handle.get_result_async()
- rclpy.spin_until_future_complete(node, result_future)
+ rclpy.spin_until_complete(node, result_future)
 
  result = result_future.result()
 
@@ -154,7 +154,7 @@ def send_goal(action_name, action_type, goal_values, feedback_callback):
  GoalStatus.STATUS_EXECUTING == goal_handle.status)):
  print('Canceling goal...')
  cancel_future = goal_handle.cancel_goal_async()
- rclpy.spin_until_future_complete(node, cancel_future)
+ rclpy.spin_until_complete(node, cancel_future)
 
  cancel_response = cancel_future.result()
 

ros2component/ros2component/api/__init__.py

@@ -174,7 +174,7 @@ def _resume(to_completion=False):
 
  timer = node.create_timer(timer_period_sec=0.1, callback=resume)
  try:
- rclpy.spin_until_future_complete(node, future, timeout_sec=5.0)
+ rclpy.spin_until_complete(node, future, timeout_sec=5.0)
  if not future.done():
  resume(to_completion=True)
  return dict(future.result())
@@ -244,7 +244,7 @@ def load_component_into_container(
  arg_msg.name = name
  request.extra_arguments.append(arg_msg)
  future = load_node_client.call_async(request)
- rclpy.spin_until_future_complete(node, future)
+ rclpy.spin_until_complete(node, future)
  response = future.result()
  if not response.success:
  raise RuntimeError('Failed to load component: ' + response.error_message.capitalize())
@@ -274,7 +274,7 @@ def unload_component_from_container(*, node, remote_container_node_name, compone
  request = composition_interfaces.srv.UnloadNode.Request()
  request.unique_id = uid
  future = unload_node_client.call_async(request)
- rclpy.spin_until_future_complete(node, future)
+ rclpy.spin_until_complete(node, future)
  response = future.result()
  yield uid, not response.success, response.error_message
  finally:

ros2lifecycle/ros2lifecycle/api/__init__.py

@@ -67,7 +67,7 @@ def call_get_states(*, node, node_names):
 
  # wait for all responses
  for future in futures.values():
- rclpy.spin_until_future_complete(node, future)
+ rclpy.spin_until_complete(node, future)
 
  # return current state or exception for each node
  states = {}
@@ -112,7 +112,7 @@ def _call_get_transitions(node, states, service_name):
 
  # wait for all responses
  for future in futures.values():
- rclpy.spin_until_future_complete(node, future)
+ rclpy.spin_until_complete(node, future)
 
  # return transitions from current state or exception for each node
  transitions = {}
@@ -157,7 +157,7 @@ def call_change_states(*, node, transitions):
 
  # wait for all responses
  for future in futures.values():
- rclpy.spin_until_future_complete(node, future)
+ rclpy.spin_until_complete(node, future)
 
  # return success flag or exception for each node
  results = {}

ros2param/ros2param/api/__init__.py

@@ -40,7 +40,7 @@ def load_parameter_file(*, node, node_name, parameter_file, use_wildcard):
  f'parameter services for node {node_name}')
  future = client.load_parameter_file(parameter_file, use_wildcard)
  parameters = list(parameter_dict_from_yaml_file(parameter_file, use_wildcard).values())
- rclpy.spin_until_future_complete(node, future)
+ rclpy.spin_until_complete(node, future)
  response = future.result()
  assert len(response.results) == len(parameters), 'Not all parameters set'
  for i in range(0, len(response.results)):
@@ -65,7 +65,7 @@ def call_describe_parameters(*, node, node_name, parameter_names=None):
  raise RuntimeError('Wait for service timed out waiting for '
  f'parameter services for node {node_name}')
  future = client.describe_parameters(parameter_names)
- rclpy.spin_until_future_complete(node, future)
+ rclpy.spin_until_complete(node, future)
  response = future.result()
  if response is None:
  raise RuntimeError('Exception while calling service of node '
@@ -80,7 +80,7 @@ def call_get_parameters(*, node, node_name, parameter_names):
  raise RuntimeError('Wait for service timed out waiting for '
  f'parameter services for node {node_name}')
  future = client.get_parameters(parameter_names)
- rclpy.spin_until_future_complete(node, future)
+ rclpy.spin_until_complete(node, future)
  response = future.result()
  if response is None:
  raise RuntimeError('Exception while calling service of node '
@@ -95,7 +95,7 @@ def call_set_parameters(*, node, node_name, parameters):
  raise RuntimeError('Wait for service timed out waiting for '
  f'parameter services for node {node_name}')
  future = client.set_parameters(parameters)
- rclpy.spin_until_future_complete(node, future)
+ rclpy.spin_until_complete(node, future)
  response = future.result()
  if response is None:
  raise RuntimeError('Exception while calling service of node '
@@ -109,7 +109,7 @@ def call_list_parameters(*, node, node_name, prefixes=None):
  if not ready:
  return None
  future = client.list_parameters(prefixes=prefixes)
- rclpy.spin_until_future_complete(node, future)
+ rclpy.spin_until_complete(node, future)
  return future
 
 

ros2service/ros2service/verb/call.py

@@ -110,7 +110,7 @@ def requester(service_type, service_name, values, period):
  print('requester: making request: %r\n' % request)
  last_call = time.time()
  future = cli.call_async(request)
- rclpy.spin_until_future_complete(node, future)
+ rclpy.spin_until_complete(node, future)
  if future.result() is not None:
  print('response:\n%r\n' % future.result())
  else:

ros2topic/ros2topic/verb/echo.py

@@ -257,7 +257,7 @@ def subscribe_and_spin(
  raw=raw)
 
  if self.future is not None:
- rclpy.spin_until_future_complete(node, self.future)
+ rclpy.spin_until_complete(node, self.future)
  else:
  rclpy.spin(node)
 

ros2topic/test/test_echo_pub.py

@@ -42,8 +42,8 @@
 # https://github.com/ros2/build_farmer/issues/248
 if sys.platform.startswith('win'):
  pytest.skip(
-  'CLI tests can block for a pathological amount of time on Windows.',
-  allow_module_level=True)
+ 'CLI tests can block for a pathological amount of time on Windows.',
+ allow_module_level=True)
 
 
 TEST_NODE = 'cli_echo_pub_test_node'
@@ -160,7 +160,7 @@ def message_callback(msg):
  filtered_rmw_implementation=get_rmw_implementation_identifier()
  )
  ) as command:
- self.executor.spin_until_future_complete(future, timeout_sec=10)
+ self.executor.spin_until_complete(future, timeout_sec=10)
  command.wait_for_shutdown(timeout=10)
 
  # Check results
@@ -254,7 +254,7 @@ def message_callback(msg):
  filtered_rmw_implementation=get_rmw_implementation_identifier()
  )
  ) as command:
- self.executor.spin_until_future_complete(future, timeout_sec=10)
+ self.executor.spin_until_complete(future, timeout_sec=10)
  assert future.done()
  assert command.wait_for_shutdown(timeout=20)
 
@@ -356,7 +356,7 @@ def publish_message():
  )
  ) as command:
  # The future won't complete - we will hit the timeout
- self.executor.spin_until_future_complete(
+ self.executor.spin_until_complete(
  rclpy.task.Future(), timeout_sec=5
  )
  command.wait_for_shutdown(timeout=10)
@@ -414,7 +414,7 @@ def publish_message():
  )
  ) as command:
  # The future won't complete - we will hit the timeout
- self.executor.spin_until_future_complete(
+ self.executor.spin_until_complete(
  rclpy.task.Future(), timeout_sec=5
  )
  command.wait_for_shutdown(timeout=10)
@@ -455,7 +455,7 @@ def publish_message():
  )
  ) as command:
  # The future won't complete - we will hit the timeout
- self.executor.spin_until_future_complete(
+ self.executor.spin_until_complete(
  rclpy.task.Future(), timeout_sec=5
  )
  assert command.wait_for_output(functools.partial(
@@ -497,7 +497,7 @@ def publish_message():
  )
  ) as command:
  # The future won't complete - we will hit the timeout
- self.executor.spin_until_future_complete(
+ self.executor.spin_until_complete(
  rclpy.task.Future(), timeout_sec=3
  )
  assert command.wait_for_shutdown(timeout=5)

ros2topic/test/test_use_sim_time.py

@@ -118,7 +118,7 @@ def test_pub_times(self, launch_service, proc_info, proc_output):
  )
  ) as command:
  # The process will end up in around 2.5s (here we set 3s)
- self.executor.spin_until_future_complete(
+ self.executor.spin_until_complete(
  rclpy.task.Future(), timeout_sec=3
  )
  assert command.wait_for_shutdown(timeout=5)
@@ -183,7 +183,7 @@ def publish_message():
  )
  ) as command:
  # The future won't complete - we will hit the timeout
- self.executor.spin_until_future_complete(
+ self.executor.spin_until_complete(
  rclpy.task.Future(), timeout_sec=5
  )
  assert command.wait_for_output(functools.partial(
@@ -240,7 +240,7 @@ def publish_message():
  )
  ) as command:
  # The future won't complete - we will hit the timeout
- self.executor.spin_until_future_complete(
+ self.executor.spin_until_complete(
  rclpy.task.Future(), timeout_sec=10
  )
  assert command.wait_for_output(functools.partial(