remove features and related code which were deprecated in dashing (#852)

Signed-off-by: William Woodall <william@osrfoundation.org>

rclcpp/CMakeLists.txt

@@ -462,17 +462,6 @@ if(BUILD_TESTING)
       "rcl")
     target_link_libraries(test_multi_threaded_executor ${PROJECT_NAME})
   endif()
-
-  ament_add_gtest(test_local_parameters test/test_local_parameters.cpp)
-  if(TARGET test_local_parameters)
-    ament_target_dependencies(test_local_parameters
-      "rcl_interfaces"
-      "rmw"
-      "rosidl_generator_cpp"
-      "rosidl_typesupport_cpp"
-    )
-    target_link_libraries(test_local_parameters ${PROJECT_NAME})
-  endif()
 endif()
 
 ament_package()

rclcpp/include/rclcpp/create_publisher.hpp

@@ -29,36 +29,6 @@
 namespace rclcpp
 {
 
-template<
-  typename MessageT,
-  typename AllocatorT = std::allocator<void>,
-  typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
-// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-[[deprecated("use alternative rclcpp::create_publisher() signatures")]]
-std::shared_ptr<PublisherT>
-create_publisher(
-  rclcpp::node_interfaces::NodeTopicsInterface * node_topics,
-  const std::string & topic_name,
-  const rmw_qos_profile_t & qos_profile,
-  const PublisherEventCallbacks & event_callbacks,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group,
-  bool use_intra_process_comms,
-  std::shared_ptr<AllocatorT> allocator)
-{
-  auto publisher_options = rcl_publisher_get_default_options();
-  publisher_options.qos = qos_profile;
-
-  auto pub = node_topics->create_publisher(
-    topic_name,
-    rclcpp::create_publisher_factory<MessageT, AllocatorT, PublisherT>(event_callbacks, allocator),
-    publisher_options,
-    use_intra_process_comms);
-
-  node_topics->add_publisher(pub, group);
-
-  return std::dynamic_pointer_cast<PublisherT>(pub);
-}
-
 /// Create and return a publisher of the given MessageT type.
 /**
  * The NodeT type only needs to have a method called get_node_topics_interface()

rclcpp/include/rclcpp/create_subscription.hpp

@@ -29,49 +29,6 @@
 namespace rclcpp
 {
 
-template<
-  typename MessageT,
-  typename CallbackT,
-  typename AllocatorT,
-  typename CallbackMessageT,
-  typename SubscriptionT = rclcpp::Subscription<CallbackMessageT, AllocatorT>>
-// cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-[[deprecated("use alternative rclcpp::create_subscription() signatures")]]
-typename std::shared_ptr<SubscriptionT>
-create_subscription(
-  rclcpp::node_interfaces::NodeTopicsInterface * node_topics,
-  const std::string & topic_name,
-  CallbackT && callback,
-  const rmw_qos_profile_t & qos_profile,
-  const SubscriptionEventCallbacks & event_callbacks,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group,
-  bool ignore_local_publications,
-  bool use_intra_process_comms,
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    CallbackMessageT, AllocatorT>::SharedPtr
-  msg_mem_strat,
-  typename std::shared_ptr<AllocatorT> allocator)
-{
-  auto subscription_options = rcl_subscription_get_default_options();
-  subscription_options.qos = qos_profile;
-  subscription_options.ignore_local_publications = ignore_local_publications;
-
-  auto factory = rclcpp::create_subscription_factory
-    <MessageT, CallbackT, AllocatorT, CallbackMessageT, SubscriptionT>(
-    std::forward<CallbackT>(callback),
-    event_callbacks,
-    msg_mem_strat,
-    allocator);
-
-  auto sub = node_topics->create_subscription(
-    topic_name,
-    factory,
-    subscription_options,
-    use_intra_process_comms);
-  node_topics->add_subscription(sub, group);
-  return std::dynamic_pointer_cast<SubscriptionT>(sub);
-}
-
 /// Create and return a subscription of the given MessageT type.
 /**
  * The NodeT type only needs to have a method called get_node_topics_interface()

rclcpp/include/rclcpp/node.hpp

@@ -174,7 +174,7 @@ public:
   template<
     typename MessageT,
     typename AllocatorT = std::allocator<void>,
-    typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
+    typename PublisherT = rclcpp::Publisher<MessageT, AllocatorT>>
   std::shared_ptr<PublisherT>
   create_publisher(
     const std::string & topic_name,
@@ -183,44 +183,6 @@ public:
     PublisherOptionsWithAllocator<AllocatorT>()
   );
 
-  /// Create and return a Publisher.
-  /**
-   * \param[in] topic_name The topic for this publisher to publish on.
-   * \param[in] qos_history_depth The depth of the publisher message queue.
-   * \param[in] allocator Custom allocator.
-   * \return Shared pointer to the created publisher.
-   */
-  template<
-    typename MessageT,
-    typename AllocatorT = std::allocator<void>,
-    typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated("use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead")]]
-  std::shared_ptr<PublisherT>
-  create_publisher(
-    const std::string & topic_name,
-    size_t qos_history_depth,
-    std::shared_ptr<AllocatorT> allocator);
-
-  /// Create and return a Publisher.
-  /**
-   * \param[in] topic_name The topic for this publisher to publish on.
-   * \param[in] qos_profile The quality of service profile to pass on to the rmw implementation.
-   * \param[in] allocator Optional custom allocator.
-   * \return Shared pointer to the created publisher.
-   */
-  template<
-    typename MessageT,
-    typename AllocatorT = std::allocator<void>,
-    typename PublisherT = ::rclcpp::Publisher<MessageT, AllocatorT>>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated("use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead")]]
-  std::shared_ptr<PublisherT>
-  create_publisher(
-    const std::string & topic_name,
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
-    std::shared_ptr<AllocatorT> allocator = nullptr);
-
   /// Create and return a Subscription.
   /**
    * \param[in] topic_name The topic to subscribe on.
@@ -252,80 +214,6 @@ public:
     >::SharedPtr
     msg_mem_strat = nullptr);
 
-  /// Create and return a Subscription.
-  /**
-   * \param[in] topic_name The topic to subscribe on.
-   * \param[in] callback The user-defined callback function.
-   * \param[in] qos_profile The quality of service profile to pass on to the rmw implementation.
-   * \param[in] group The callback group for this subscription. NULL for no callback group.
-   * \param[in] ignore_local_publications True to ignore local publications.
-   * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
-   * \param[in] allocator Optional custom allocator.
-   * \return Shared pointer to the created subscription.
-   */
-  /* TODO(jacquelinekay):
-     Windows build breaks when static member function passed as default
-     argument to msg_mem_strat, nullptr is a workaround.
-   */
-  template<
-    typename MessageT,
-    typename CallbackT,
-    typename Alloc = std::allocator<void>,
-    typename SubscriptionT = rclcpp::Subscription<
-      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated(
-    "use create_subscription(const std::string &, const rclcpp::QoS &, CallbackT, ...) instead"
-  )]]
-  std::shared_ptr<SubscriptionT>
-  create_subscription(
-    const std::string & topic_name,
-    CallbackT && callback,
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
-    bool ignore_local_publications = false,
-    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
-    msg_mem_strat = nullptr,
-    std::shared_ptr<Alloc> allocator = nullptr);
-
-  /// Create and return a Subscription.
-  /**
-   * \param[in] topic_name The topic to subscribe on.
-   * \param[in] qos_history_depth The depth of the subscription's incoming message queue.
-   * \param[in] callback The user-defined callback function.
-   * \param[in] group The callback group for this subscription. NULL for no callback group.
-   * \param[in] ignore_local_publications True to ignore local publications.
-   * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
-   * \param[in] allocator Optional custom allocator.
-   * \return Shared pointer to the created subscription.
-   */
-  /* TODO(jacquelinekay):
-     Windows build breaks when static member function passed as default
-     argument to msg_mem_strat, nullptr is a workaround.
-   */
-  template<
-    typename MessageT,
-    typename CallbackT,
-    typename Alloc = std::allocator<void>,
-    typename SubscriptionT = rclcpp::Subscription<
-      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated(
-    "use create_subscription(const std::string &, const rclcpp::QoS &, CallbackT, ...) instead"
-  )]]
-  std::shared_ptr<SubscriptionT>
-  create_subscription(
-    const std::string & topic_name,
-    CallbackT && callback,
-    size_t qos_history_depth,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
-    bool ignore_local_publications = false,
-    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
-    msg_mem_strat = nullptr,
-    std::shared_ptr<Alloc> allocator = nullptr);
-
   /// Create a timer.
   /**
    * \param[in] period Time interval between triggers of the callback.
@@ -624,38 +512,6 @@ public:
   rcl_interfaces::msg::SetParametersResult
   set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
 
-  /// Set one parameter, unless that parameter has already been set.
-  /**
-   * Set the given parameter unless already set.
-   *
-   * Deprecated, instead use declare_parameter().
-   *
-   * \param[in] parameters The vector of parameters to be set.
-   * \return The result of each set action as a vector.
-   */
-  template<typename ParameterT>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated("use declare_parameter() instead")]]
-  void
-  set_parameter_if_not_set(const std::string & name, const ParameterT & value);
-
-  /// Set a map of parameters with the same prefix.
-  /**
-   * For each key in the map, a parameter with a name of "name.key" will be set
-   * to the value in the map.
-   *
-   * Deprecated, instead use declare_parameters().
-   *
-   * \param[in] name The prefix of the parameters to set.
-   * \param[in] values The parameters to set in the given prefix.
-   */
-  template<typename ParameterT>
-  [[deprecated("use declare_parameters() instead")]]
-  void
-  set_parameters_if_not_set(
-    const std::string & name,
-    const std::map<std::string, ParameterT> & values);
-
   /// Return the parameter by the given name.
   /**
    * If the parameter has not been declared, then this method may throw the
@@ -799,28 +655,6 @@ public:
     const std::string & prefix,
     std::map<std::string, ParameterT> & values) const;
 
-  /// Get the parameter value; if not set, set the "alternative value" and store it in the node.
-  /**
-   * If the parameter is set, then the "value" argument is assigned the value
-   * in the parameter.
-   * If the parameter is not set, then the "value" argument is assigned the "alternative_value",
-   * and the parameter is set to the "alternative_value" on the node.
-   *
-   * Deprecated, instead use declare_parameter()'s return value, or use
-   * has_parameter() to ensure it exists before getting it.
-   *
-   * \param[in] name The name of the parameter to get.
-   * \param[out] value The output where the value of the parameter should be assigned.
-   * \param[in] alternative_value Value to be used if the parameter was not set.
-   */
-  template<typename ParameterT>
-  [[deprecated("use declare_parameter() and its return value instead")]]
-  void
-  get_parameter_or_set(
-    const std::string & name,
-    ParameterT & value,
-    const ParameterT & alternative_value);
-
   /// Return the parameter descriptor for the given parameter name.
   /**
    * Like get_parameters(), this method may throw the
@@ -1006,17 +840,6 @@ public:
   OnParametersSetCallbackType
   set_on_parameters_set_callback(rclcpp::Node::OnParametersSetCallbackType callback);
 
-  /// Register the callback for parameter changes
-  /**
-   * \param[in] callback User defined callback function.
-   *   It is expected to atomically set parameters.
-   * \note Repeated invocations of this function will overwrite previous callbacks.
-   */
-  template<typename CallbackT>
-  [[deprecated("use set_on_parameters_set_callback() instead")]]
-  void
-  register_param_change_callback(CallbackT && callback);
-
   /// Get the fully-qualified names of all available nodes.
   /**
    * The fully-qualified name includes the local namespace and name of the node.

rclcpp/include/rclcpp/node_impl.hpp

@@ -79,34 +79,6 @@ Node::create_publisher(
     options);
 }
 
-template<typename MessageT, typename AllocatorT, typename PublisherT>
-std::shared_ptr<PublisherT>
-Node::create_publisher(
-  const std::string & topic_name,
-  size_t qos_history_depth,
-  std::shared_ptr<AllocatorT> allocator)
-{
-  PublisherOptionsWithAllocator<AllocatorT> pub_options;
-  pub_options.allocator = allocator;
-  return this->create_publisher<MessageT, AllocatorT, PublisherT>(
-    topic_name, rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)), pub_options);
-}
-
-template<typename MessageT, typename AllocatorT, typename PublisherT>
-std::shared_ptr<PublisherT>
-Node::create_publisher(
-  const std::string & topic_name,
-  const rmw_qos_profile_t & qos_profile,
-  std::shared_ptr<AllocatorT> allocator)
-{
-  rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
-  qos.get_rmw_qos_profile() = qos_profile;
-
-  PublisherOptionsWithAllocator<AllocatorT> pub_options;
-  pub_options.allocator = allocator;
-  return this->create_publisher<MessageT, AllocatorT, PublisherT>(topic_name, qos, pub_options);
-}
-
 template<
   typename MessageT,
   typename CallbackT,
@@ -131,65 +103,6 @@ Node::create_subscription(
     msg_mem_strat);
 }
 
-template<
-  typename MessageT,
-  typename CallbackT,
-  typename Alloc,
-  typename SubscriptionT>
-std::shared_ptr<SubscriptionT>
-Node::create_subscription(
-  const std::string & topic_name,
-  CallbackT && callback,
-  const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group,
-  bool ignore_local_publications,
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
-  msg_mem_strat,
-  std::shared_ptr<Alloc> allocator)
-{
-  rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
-  qos.get_rmw_qos_profile() = qos_profile;
-
-  SubscriptionOptionsWithAllocator<Alloc> sub_options;
-  sub_options.callback_group = group;
-  sub_options.ignore_local_publications = ignore_local_publications;
-  sub_options.allocator = allocator;
-
-  return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
-    topic_name, qos, std::forward<CallbackT>(callback), sub_options, msg_mem_strat);
-}
-
-template<
-  typename MessageT,
-  typename CallbackT,
-  typename Alloc,
-  typename SubscriptionT>
-std::shared_ptr<SubscriptionT>
-Node::create_subscription(
-  const std::string & topic_name,
-  CallbackT && callback,
-  size_t qos_history_depth,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group,
-  bool ignore_local_publications,
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
-  msg_mem_strat,
-  std::shared_ptr<Alloc> allocator)
-{
-  SubscriptionOptionsWithAllocator<Alloc> sub_options;
-  sub_options.callback_group = group;
-  sub_options.ignore_local_publications = ignore_local_publications;
-  sub_options.allocator = allocator;
-
-  return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
-    topic_name,
-    rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)),
-    std::forward<CallbackT>(callback),
-    sub_options,
-    msg_mem_strat);
-}
-
 template<typename DurationRepT, typename DurationT, typename CallbackT>
 typename rclcpp::WallTimer<CallbackT>::SharedPtr
 Node::create_wall_timer(
@@ -303,44 +216,6 @@ Node::declare_parameters(
   return result;
 }
 
-template<typename ParameterT>
-void
-Node::set_parameter_if_not_set(
-  const std::string & name,
-  const ParameterT & value)
-{
-  if (
-    !this->has_parameter(name) ||
-    this->describe_parameter(name).type == PARAMETER_NOT_SET)
-  {
-    this->set_parameter(rclcpp::Parameter(name, value));
-  }
-}
-
-// this is a partially-specialized version of set_parameter_if_not_set above,
-// where our concrete type for ParameterT is std::map, but the to-be-determined
-// type is the value in the map.
-template<typename ParameterT>
-void
-Node::set_parameters_if_not_set(
-  const std::string & name,
-  const std::map<std::string, ParameterT> & values)
-{
-  std::vector<rclcpp::Parameter> params;
-
-  for (const auto & val : values) {
-    std::string parameter_name = name + "." + val.first;
-    if (
-      !this->has_parameter(parameter_name) ||
-      this->describe_parameter(parameter_name).type == PARAMETER_NOT_SET)
-    {
-      params.push_back(rclcpp::Parameter(parameter_name, val.second));
-    }
-  }
-
-  this->set_parameters(params);
-}
-
 template<typename ParameterT>
 bool
 Node::get_parameter(const std::string & name, ParameterT & parameter) const
@@ -393,29 +268,6 @@ Node::get_parameters(
   return result;
 }
 
-template<typename ParameterT>
-void
-Node::get_parameter_or_set(
-  const std::string & name,
-  ParameterT & value,
-  const ParameterT & alternative_value)
-{
-  std::string sub_name = extend_name_with_sub_namespace(name, this->get_sub_namespace());
-
-  bool got_parameter = get_parameter(sub_name, value);
-  if (!got_parameter) {
-    this->set_parameters({rclcpp::Parameter(sub_name, alternative_value), });
-    value = alternative_value;
-  }
-}
-
-template<typename CallbackT>
-void
-Node::register_param_change_callback(CallbackT && callback)
-{
-  this->node_parameters_->register_param_change_callback(std::forward<CallbackT>(callback));
-}
-
 }  // namespace rclcpp
 
 #endif  // RCLCPP__NODE_IMPL_HPP_

rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

@@ -170,11 +170,6 @@ public:
   OnParametersSetCallbackType
   set_on_parameters_set_callback(OnParametersSetCallbackType callback) override;
 
-  [[deprecated("use set_on_parameters_set_callback() instead")]]
-  RCLCPP_PUBLIC
-  void
-  register_param_change_callback(OnParametersSetCallbackType callback) override;
-
   RCLCPP_PUBLIC
   const std::map<std::string, rclcpp::ParameterValue> &
   get_parameter_overrides() const override;

rclcpp/include/rclcpp/node_interfaces/node_parameters_interface.hpp

@@ -173,9 +173,6 @@ public:
 
   using OnParametersSetCallbackType = OnSetParametersCallbackHandle::OnParametersSetCallbackType;
 
-  using ParametersCallbackFunction [[deprecated("use OnParametersSetCallbackType instead")]] =
-    OnParametersSetCallbackType;
-
   /// Add a callback for when parameters are being set.
   /**
    * \sa rclcpp::Node::add_on_set_parameters_callback
@@ -203,12 +200,6 @@ public:
   OnParametersSetCallbackType
   set_on_parameters_set_callback(OnParametersSetCallbackType callback) = 0;
 
-  [[deprecated("use set_on_parameters_set_callback() instead")]]
-  RCLCPP_PUBLIC
-  virtual
-  void
-  register_param_change_callback(OnParametersSetCallbackType callback) = 0;
-
   /// Return the initial parameter values used by the NodeParameters to override default values.
   RCLCPP_PUBLIC
   virtual

rclcpp/include/rclcpp/publisher.hpp

@@ -127,18 +127,6 @@ public:
     }
   }
 
-// Skip deprecated attribute in windows, as it raise a warning in template specialization.
-#if !defined(_WIN32)
-  [[deprecated(
-    "publishing an unique_ptr is prefered when using intra process communication."
-    " If using a shared_ptr, use publish(*msg).")]]
-#endif
-  virtual void
-  publish(const std::shared_ptr<const MessageT> & msg)
-  {
-    publish(*msg);
-  }
-
   virtual void
   publish(const MessageT & msg)
   {
@@ -156,48 +144,12 @@ public:
     this->publish(std::move(unique_msg));
   }
 
-// Skip deprecated attribute in windows, as it raise a warning in template specialization.
-#if !defined(_WIN32)
-  [[deprecated(
-    "Use publish(*msg). Check against nullptr before calling if necessary.")]]
-#endif
-  virtual void
-  publish(const MessageT * msg)
-  {
-    if (!msg) {
-      throw std::runtime_error("msg argument is nullptr");
-    }
-    return this->publish(*msg);
-  }
-
   void
   publish(const rcl_serialized_message_t & serialized_msg)
   {
     return this->do_serialized_publish(&serialized_msg);
   }
 
-// Skip deprecated attribute in windows, as it raise a warning in template specialization.
-#if !defined(_WIN32)
-  [[deprecated(
-    "Use publish(*serialized_msg). Check against nullptr before calling if necessary.")]]
-#endif
-  void
-  publish(const rcl_serialized_message_t * serialized_msg)
-  {
-    return this->do_serialized_publish(serialized_msg);
-  }
-
-// Skip deprecated attribute in windows, as it raise a warning in template specialization.
-#if !defined(_WIN32)
-  [[deprecated(
-    "Use publish(*serialized_msg). Check against nullptr before calling if necessary.")]]
-#endif
-  void
-  publish(std::shared_ptr<const rcl_serialized_message_t> serialized_msg)
-  {
-    return this->do_serialized_publish(serialized_msg.get());
-  }
-
   std::shared_ptr<MessageAlloc> get_allocator() const
   {
     return message_allocator_;

rclcpp/include/rclcpp/rclcpp.hpp

@@ -48,7 +48,8 @@
  *   - rclcpp::Node::get_parameter()
  *   - rclcpp::Node::describe_parameters()
  *   - rclcpp::Node::list_parameters()
- *   - rclcpp::Node::register_param_change_callback()
+ *   - rclcpp::Node::add_on_set_parameters_callback()
+ *   - rclcpp::Node::remove_on_set_parameters_callback()
  *   - rclcpp::Parameter
  *   - rclcpp::ParameterValue
  *   - rclcpp::AsyncParametersClient

rclcpp/src/rclcpp/node.cpp

@@ -27,17 +27,7 @@
 #include "rclcpp/node_interfaces/node_clock.hpp"
 #include "rclcpp/node_interfaces/node_graph.hpp"
 #include "rclcpp/node_interfaces/node_logging.hpp"
-// When compiling this file, Windows produces a deprecation warning for the
-// deprecated function prototype of NodeParameters::register_param_change_callback().
-// Other compilers do not.
-#if defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
 #include "rclcpp/node_interfaces/node_parameters.hpp"
-#if defined(_WIN32)
-# pragma warning(pop)
-#endif
 #include "rclcpp/node_interfaces/node_services.hpp"
 #include "rclcpp/node_interfaces/node_time_source.hpp"
 #include "rclcpp/node_interfaces/node_timers.hpp"

rclcpp/src/rclcpp/node_interfaces/node_parameters.cpp

@@ -12,17 +12,7 @@
 // See the License for the specific language governing permissions and
 // limitations under the License.
 
-// When compiling this file, Windows produces a deprecation warning for the
-// deprecated function prototype of NodeParameters::register_param_change_callback().
-// Other compilers do not.
-#if defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
 #include "rclcpp/node_interfaces/node_parameters.hpp"
-#if defined(_WIN32)
-# pragma warning(pop)
-#endif
 
 #include <rcl_yaml_param_parser/parser.h>
 
@@ -919,33 +909,6 @@ NodeParameters::set_on_parameters_set_callback(OnParametersSetCallbackType callb
   return existing_callback;
 }
 
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-void
-NodeParameters::register_param_change_callback(ParametersCallbackFunction callback)
-{
-  std::lock_guard<std::recursive_mutex> lock(mutex_);
-
-  ParameterMutationRecursionGuard guard(parameter_modification_enabled_);
-
-  if (on_parameters_set_callback_) {
-    RCLCPP_WARN(
-      node_logging_->get_logger(),
-      "on_parameters_set_callback already registered, overwriting previous callback");
-  }
-  on_parameters_set_callback_ = callback;
-}
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-
 const std::map<std::string, rclcpp::ParameterValue> &
 NodeParameters::get_parameter_overrides() const
 {

rclcpp/src/rclcpp/parameter.cpp

@@ -19,17 +19,7 @@
 #include <string>
 #include <vector>
 
-// When compiling this file, Windows produces a deprecation warning for the
-// deprecated function prototype of NodeParameters::register_param_change_callback().
-// Other compilers do not.
-#if defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
 #include "rclcpp/node_interfaces/node_parameters.hpp"
-#if defined(_WIN32)
-# pragma warning(pop)
-#endif
 #include "rclcpp/utilities.hpp"
 
 using rclcpp::ParameterType;

rclcpp/test/test_local_parameters.cpp

@@ -1,97 +0,0 @@
-// Copyright 2018 Open Source Robotics Foundation, Inc.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-#include <cstdio>
-#include <map>
-#include <string>
-
-#include "gtest/gtest.h"
-
-#include "rclcpp/rclcpp.hpp"
-
-TEST(test_local_parameters, set_parameter_if_not_set) {
-  auto node = rclcpp::Node::make_shared(
-    "test_local_parameters_set_parameter_if_not_set",
-    rclcpp::NodeOptions().allow_undeclared_parameters(true));
-
-  {
-    // try to set a map of parameters
-    std::map<std::string, double> bar_map{
-      {"x", 0.5},
-      {"y", 1.0},
-    };
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-    node->set_parameters_if_not_set("bar", bar_map);
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-    double bar_x_value;
-    ASSERT_TRUE(node->get_parameter("bar.x", bar_x_value));
-    EXPECT_EQ(bar_x_value, 0.5);
-    double bar_y_value;
-    ASSERT_TRUE(node->get_parameter("bar.y", bar_y_value));
-    EXPECT_EQ(bar_y_value, 1.0);
-    std::map<std::string, double> new_map;
-    ASSERT_TRUE(node->get_parameters("bar", new_map));
-    ASSERT_EQ(new_map.size(), 2U);
-    EXPECT_EQ(new_map["x"], 0.5);
-    EXPECT_EQ(new_map["y"], 1.0);
-  }
-
-  {
-    // try to get a map of parameters that doesn't exist
-    std::map<std::string, double> no_exist_map;
-    ASSERT_FALSE(node->get_parameters("no_exist", no_exist_map));
-  }
-
-  {
-    // set parameters for a map with different types, then try to get them back as a map
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-    node->set_parameter_if_not_set("baz.x", 1.0);
-    node->set_parameter_if_not_set("baz.y", "hello");
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
-    std::map<std::string, double> baz_map;
-    EXPECT_THROW(node->get_parameters("baz", baz_map), rclcpp::ParameterTypeException);
-  }
-}
-
-int main(int argc, char ** argv)
-{
-  ::setvbuf(stdout, NULL, _IONBF, BUFSIZ);
-
-  // NOTE: use custom main to ensure that rclcpp::init is called only once
-  rclcpp::init(argc, argv);
-  ::testing::InitGoogleTest(&argc, argv);
-  int ret = RUN_ALL_TESTS();
-  rclcpp::shutdown();
-  return ret;
-}

rclcpp/test/test_publisher.cpp

@@ -139,41 +139,6 @@ TEST_F(TestPublisher, various_creation_signatures) {
       rclcpp::create_publisher<IntraProcessMessage>(node, "topic", 42, rclcpp::PublisherOptions());
     (void)publisher;
   }
-  // Now deprecated functions.
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-  {
-    auto publisher = node->create_publisher<IntraProcessMessage>("topic");
-    (void)publisher;
-  }
-  {
-    auto publisher = node->create_publisher<IntraProcessMessage>(
-      "topic",
-      42,
-      std::make_shared<std::allocator<IntraProcessMessage>>());
-    (void)publisher;
-  }
-  {
-    auto publisher = node->create_publisher<IntraProcessMessage>("topic", rmw_qos_profile_default);
-    (void)publisher;
-  }
-  {
-    auto publisher = node->create_publisher<IntraProcessMessage>(
-      "topic",
-      rmw_qos_profile_default,
-      std::make_shared<std::allocator<IntraProcessMessage>>());
-    (void)publisher;
-  }
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
 }
 
 /*

rclcpp/test/test_subscription.cpp

@@ -203,40 +203,6 @@ TEST_F(TestSubscription, various_creation_signatures) {
       node, "topic", 42, cb, rclcpp::SubscriptionOptions());
     (void)sub;
   }
-  // Now deprecated functions.
-#if !defined(_WIN32)
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-#else  // !defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
-  {
-    auto sub = node->create_subscription<IntraProcessMessage>("topic", cb, 42);
-    (void)sub;
-  }
-  {
-    auto sub = node->create_subscription<IntraProcessMessage>("topic", cb);
-    (void)sub;
-  }
-  {
-    auto sub = node->create_subscription<IntraProcessMessage>("topic", cb, rmw_qos_profile_default);
-    (void)sub;
-  }
-  {
-    auto sub =
-      node->create_subscription<IntraProcessMessage>("topic", cb, rmw_qos_profile_default, nullptr);
-    (void)sub;
-  }
-  {
-    auto sub = node->create_subscription<IntraProcessMessage>("topic", cb, 42, nullptr);
-    (void)sub;
-  }
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#else  // !defined(_WIN32)
-# pragma warning(pop)
-#endif
 }
 
 /*

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node.hpp

@@ -170,38 +170,6 @@ public:
     create_default_publisher_options<AllocatorT>()
   );
 
-  /// Create and return a Publisher.
-  /**
-   * \param[in] topic_name The topic for this publisher to publish on.
-   * \param[in] qos_history_depth The depth of the publisher message queue.
-   * \param[in] allocator allocator to use during publishing activities.
-   * \return Shared pointer to the created publisher.
-   */
-  template<typename MessageT, typename Alloc = std::allocator<void>>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated("use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead")]]
-  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, Alloc>>
-  create_publisher(
-    const std::string & topic_name,
-    size_t qos_history_depth,
-    std::shared_ptr<Alloc> allocator);
-
-  /// Create and return a LifecyclePublisher.
-  /**
-   * \param[in] topic_name The topic for this publisher to publish on.
-   * \param[in] qos_profile The QoS settings for this publisher.
-   * \param[in] allocator allocator to use during publishing activities.
-   * \return Shared pointer to the created publisher.
-   */
-  template<typename MessageT, typename Alloc = std::allocator<void>>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated("use create_publisher(const std::string &, const rclcpp::QoS &, ...) instead")]]
-  std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, Alloc>>
-  create_publisher(
-    const std::string & topic_name,
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
-    std::shared_ptr<Alloc> allocator = nullptr);
-
   /// Create and return a Subscription.
   /**
    * \param[in] topic_name The topic to subscribe on.
@@ -232,77 +200,6 @@ public:
     >::SharedPtr
     msg_mem_strat = nullptr);
 
-  /// Create and return a Subscription.
-  /**
-   * \param[in] topic_name The topic to subscribe on.
-   * \param[in] callback The user-defined callback function.
-   * \param[in] qos_profile The quality of service profile to pass on to the rmw implementation.
-   * \param[in] group The callback group for this subscription. NULL for no callback group.
-   * \param[in] ignore_local_publications True to ignore local publications.
-   * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
-   * \return Shared pointer to the created subscription.
-   */
-  /* TODO(jacquelinekay):
-     Windows build breaks when static member function passed as default
-     argument to msg_mem_strat, nullptr is a workaround.
-   */
-  template<
-    typename MessageT,
-    typename CallbackT,
-    typename Alloc = std::allocator<void>,
-    typename SubscriptionT = rclcpp::Subscription<MessageT, Alloc>>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated(
-    "use create_subscription(const std::string &, const rclcpp::QoS &, CallbackT, ...) instead"
-  )]]
-  std::shared_ptr<SubscriptionT>
-  create_subscription(
-    const std::string & topic_name,
-    CallbackT && callback,
-    const rmw_qos_profile_t & qos_profile = rmw_qos_profile_default,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group = nullptr,
-    bool ignore_local_publications = false,
-    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
-    msg_mem_strat = nullptr,
-    std::shared_ptr<Alloc> allocator = nullptr);
-
-  /// Create and return a Subscription.
-  /**
-   * \param[in] topic_name The topic to subscribe on.
-   * \param[in] qos_history_depth The depth of the subscription's incoming message queue.
-   * \param[in] callback The user-defined callback function.
-   * \param[in] group The callback group for this subscription. NULL for no callback group.
-   * \param[in] ignore_local_publications True to ignore local publications.
-   * \param[in] msg_mem_strat The message memory strategy to use for allocating messages.
-   * \param[in] allocator allocator to be used during handling of subscription callbacks.
-   * \return Shared pointer to the created subscription.
-   */
-  /* TODO(jacquelinekay):
-     Windows build breaks when static member function passed as default
-     argument to msg_mem_strat, nullptr is a workaround.
-   */
-  template<
-    typename MessageT,
-    typename CallbackT,
-    typename Alloc = std::allocator<void>,
-    typename SubscriptionT = rclcpp::Subscription<MessageT, Alloc>>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated(
-    "use create_subscription(const std::string &, const rclcpp::QoS &, CallbackT, ...) instead"
-  )]]
-  std::shared_ptr<SubscriptionT>
-  create_subscription(
-    const std::string & topic_name,
-    size_t qos_history_depth,
-    CallbackT && callback,
-    rclcpp::callback_group::CallbackGroup::SharedPtr group,
-    bool ignore_local_publications = false,
-    typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-      typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
-    msg_mem_strat = nullptr,
-    std::shared_ptr<Alloc> allocator = nullptr);
-
   /// Create a timer.
   /**
    * \param[in] period Time interval between triggers of the callback.
@@ -420,30 +317,6 @@ public:
   rcl_interfaces::msg::SetParametersResult
   set_parameters_atomically(const std::vector<rclcpp::Parameter> & parameters);
 
-  /// Set one parameter, unless that parameter has already been set.
-  /**
-   * \sa rclcpp::Node::set_parameter_if_not_set
-   */
-  template<typename ParameterT>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated("use declare_parameter() instead")]]
-  void
-  set_parameter_if_not_set(
-    const std::string & name,
-    const ParameterT & value);
-
-  /// Set a map of parameters with the same prefix.
-  /**
-   * \sa rclcpp::Node::set_parameters_if_not_set
-   */
-  template<typename MapValueT>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated("use declare_parameters() instead")]]
-  void
-  set_parameters_if_not_set(
-    const std::string & name,
-    const std::map<std::string, MapValueT> & values);
-
   /// Return the parameter by the given name.
   /**
    * \sa rclcpp::Node::get_parameter
@@ -499,19 +372,6 @@ public:
     const std::string & prefix,
     std::map<std::string, MapValueT> & values) const;
 
-  /// Get the parameter value; if not set, set the "alternative value" and store it in the node.
-  /**
-   * \sa rclcpp::Node::get_parameter_or_set
-   */
-  template<typename ParameterT>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated("use declare_parameter() and its return value instead")]]
-  void
-  get_parameter_or_set(
-    const std::string & name,
-    ParameterT & value,
-    const ParameterT & alternative_value);
-
   /// Return the parameter descriptor for the given parameter name.
   /**
    * \sa rclcpp::Node::describe_parameter
@@ -556,16 +416,6 @@ public:
   set_on_parameters_set_callback(
     rclcpp_lifecycle::LifecycleNode::OnParametersSetCallbackType callback);
 
-  /// Register the callback for parameter changes
-  /**
-   * \sa rclcpp::Node::register_param_change_callback
-   */
-  template<typename CallbackT>
-  // cppcheck-suppress syntaxError // bug in cppcheck 1.82 for [[deprecated]] on templated function
-  [[deprecated("use set_on_parameters_set_callback() instead")]]
-  void
-  register_param_change_callback(CallbackT && callback);
-
   RCLCPP_LIFECYCLE_PUBLIC
   std::vector<std::string>
   get_node_names() const;

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_node_impl.hpp

@@ -54,40 +54,6 @@ LifecycleNode::create_publisher(
     options);
 }
 
-template<typename MessageT, typename Alloc>
-std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, Alloc>>
-LifecycleNode::create_publisher(
-  const std::string & topic_name,
-  size_t qos_history_depth,
-  std::shared_ptr<Alloc> allocator)
-{
-  rclcpp::PublisherOptionsWithAllocator<Alloc> options;
-  options.allocator = allocator;
-  return this->create_publisher<MessageT, Alloc>(
-    topic_name,
-    rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)),
-    options);
-}
-
-template<typename MessageT, typename Alloc>
-std::shared_ptr<rclcpp_lifecycle::LifecyclePublisher<MessageT, Alloc>>
-LifecycleNode::create_publisher(
-  const std::string & topic_name,
-  const rmw_qos_profile_t & qos_profile,
-  std::shared_ptr<Alloc> allocator)
-{
-  rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
-  qos.get_rmw_qos_profile() = qos_profile;
-
-  rclcpp::PublisherOptionsWithAllocator<Alloc> pub_options;
-  pub_options.allocator = allocator;
-
-  return this->create_publisher<MessageT, Alloc>(
-    topic_name,
-    qos,
-    pub_options);
-}
-
 // TODO(karsten1987): Create LifecycleSubscriber
 template<
   typename MessageT,
@@ -113,65 +79,6 @@ LifecycleNode::create_subscription(
     msg_mem_strat);
 }
 
-template<
-  typename MessageT,
-  typename CallbackT,
-  typename Alloc,
-  typename SubscriptionT>
-std::shared_ptr<SubscriptionT>
-LifecycleNode::create_subscription(
-  const std::string & topic_name,
-  CallbackT && callback,
-  const rmw_qos_profile_t & qos_profile,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group,
-  bool ignore_local_publications,
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
-  msg_mem_strat,
-  std::shared_ptr<Alloc> allocator)
-{
-  rclcpp::QoS qos(rclcpp::QoSInitialization::from_rmw(qos_profile));
-  qos.get_rmw_qos_profile() = qos_profile;
-
-  rclcpp::SubscriptionOptionsWithAllocator<Alloc> sub_options;
-  sub_options.callback_group = group;
-  sub_options.ignore_local_publications = ignore_local_publications;
-  sub_options.allocator = allocator;
-
-  return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
-    topic_name, std::forward<CallbackT>(callback), qos, sub_options, msg_mem_strat);
-}
-
-template<
-  typename MessageT,
-  typename CallbackT,
-  typename Alloc,
-  typename SubscriptionT>
-std::shared_ptr<SubscriptionT>
-LifecycleNode::create_subscription(
-  const std::string & topic_name,
-  size_t qos_history_depth,
-  CallbackT && callback,
-  rclcpp::callback_group::CallbackGroup::SharedPtr group,
-  bool ignore_local_publications,
-  typename rclcpp::message_memory_strategy::MessageMemoryStrategy<
-    typename rclcpp::subscription_traits::has_message_type<CallbackT>::type, Alloc>::SharedPtr
-  msg_mem_strat,
-  std::shared_ptr<Alloc> allocator)
-{
-  rclcpp::SubscriptionOptionsWithAllocator<Alloc> sub_options;
-  sub_options.callback_group = group;
-  sub_options.ignore_local_publications = ignore_local_publications;
-  sub_options.allocator = allocator;
-
-  return this->create_subscription<MessageT, CallbackT, Alloc, SubscriptionT>(
-    topic_name,
-    std::forward<CallbackT>(callback),
-    rclcpp::QoS(rclcpp::KeepLast(qos_history_depth)),
-    sub_options,
-    msg_mem_strat);
-}
-
 template<typename DurationRepT, typename DurationT, typename CallbackT>
 typename rclcpp::WallTimer<CallbackT>::SharedPtr
 LifecycleNode::create_wall_timer(
@@ -290,47 +197,6 @@ LifecycleNode::get_parameter(const std::string & name, ParameterT & parameter) c
   return result;
 }
 
-template<typename CallbackT>
-void
-LifecycleNode::register_param_change_callback(CallbackT && callback)
-{
-  this->node_parameters_->set_on_parameters_set_callback(std::forward<CallbackT>(callback));
-}
-
-template<typename ParameterT>
-void
-LifecycleNode::set_parameter_if_not_set(
-  const std::string & name,
-  const ParameterT & value)
-{
-  rclcpp::Parameter parameter;
-  if (!this->get_parameter(name, parameter)) {
-    this->set_parameters({rclcpp::Parameter(name, value), });
-  }
-}
-
-// this is a partially-specialized version of set_parameter_if_not_set above,
-// where our concrete type for ParameterT is std::map, but the to-be-determined
-// type is the value in the map.
-template<typename MapValueT>
-void
-LifecycleNode::set_parameters_if_not_set(
-  const std::string & name,
-  const std::map<std::string, MapValueT> & values)
-{
-  std::vector<rclcpp::Parameter> params;
-
-  for (const auto & val : values) {
-    std::string param_name = name + "." + val.first;
-    rclcpp::Parameter parameter;
-    if (!this->get_parameter(param_name, parameter)) {
-      params.push_back(rclcpp::Parameter(param_name, val.second));
-    }
-  }
-
-  this->set_parameters(params);
-}
-
 // this is a partially-specialized version of get_parameter above,
 // where our concrete type for ParameterT is std::map, but the to-be-determined
 // type is the value in the map.
@@ -365,19 +231,5 @@ LifecycleNode::get_parameter_or(
   return got_parameter;
 }
 
-template<typename ParameterT>
-void
-LifecycleNode::get_parameter_or_set(
-  const std::string & name,
-  ParameterT & value,
-  const ParameterT & alternative_value)
-{
-  bool got_parameter = get_parameter(name, value);
-  if (!got_parameter) {
-    this->set_parameters({rclcpp::Parameter(name, alternative_value), });
-    value = alternative_value;
-  }
-}
-
 }  // namespace rclcpp_lifecycle
 #endif  // RCLCPP_LIFECYCLE__LIFECYCLE_NODE_IMPL_HPP_

rclcpp_lifecycle/include/rclcpp_lifecycle/lifecycle_publisher.hpp

@@ -113,53 +113,6 @@ public:
     rclcpp::Publisher<MessageT, Alloc>::publish(msg);
   }
 
-  /// LifecyclePublisher publish function
-  /**
-   * The publish function checks whether the communication
-   * was enabled or disabled and forwards the message
-   * to the actual rclcpp Publisher base class
-   */
-// Skip deprecated attribute in windows, as it raise a warning in template specialization.
-#if !defined(_WIN32)
-// Avoid raising a deprecated warning in template specialization in linux.
-# pragma GCC diagnostic push
-# pragma GCC diagnostic ignored "-Wdeprecated-declarations"
-  [[deprecated(
-    "publishing an unique_ptr is prefered when using intra process communication."
-    " If using a shared_ptr, use publish(*msg).")]]
-#endif
-  virtual void
-  publish(const std::shared_ptr<const MessageT> & msg)
-  {
-    if (!enabled_) {
-      RCLCPP_WARN(
-        logger_,
-        "Trying to publish message on the topic '%s', but the publisher is not activated",
-        this->get_topic_name());
-
-      return;
-    }
-    rclcpp::Publisher<MessageT, Alloc>::publish(*msg);
-  }
-
-// Skip deprecated attribute in windows, as it raise a warning in template specialization.
-#if !defined(_WIN32)
-  [[deprecated(
-    "Use publish(*msg). Check against nullptr before calling if necessary.")]]
-#endif
-  virtual void
-  publish(const MessageT * msg)
-  {
-    if (!msg) {
-      throw std::runtime_error("msg argument is nullptr");
-    }
-    this->publish(*msg);
-  }
-
-#if !defined(_WIN32)
-# pragma GCC diagnostic pop
-#endif
-
   virtual void
   on_activate()
   {

rclcpp_lifecycle/src/lifecycle_node.cpp

@@ -31,17 +31,7 @@
 #include "rclcpp/node_interfaces/node_clock.hpp"
 #include "rclcpp/node_interfaces/node_graph.hpp"
 #include "rclcpp/node_interfaces/node_logging.hpp"
-// When compiling this file, Windows produces a deprecation warning for the
-// deprecated function prototype of NodeParameters::register_param_change_callback().
-// Other compilers do not.
-#if defined(_WIN32)
-# pragma warning(push)
-# pragma warning(disable: 4996)
-#endif
 #include "rclcpp/node_interfaces/node_parameters.hpp"
-#if defined(_WIN32)
-# pragma warning(pop)
-#endif
 #include "rclcpp/node_interfaces/node_services.hpp"
 #include "rclcpp/node_interfaces/node_time_source.hpp"
 #include "rclcpp/node_interfaces/node_timers.hpp"