[CM] Remove deprecated spawner args (#1639)

controller_manager/controller_manager/launch_utils.py

@@ -12,7 +12,6 @@
 # See the License for the specific language governing permissions and
 # limitations under the License.
 
-import warnings
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration, PythonExpression
@@ -21,7 +20,7 @@
 
 
 def generate_load_controller_launch_description(
-    controller_name, controller_type=None, controller_params_file=None, extra_spawner_args=[]
+    controller_name, controller_params_file=None, extra_spawner_args=[]
 ):
     """
     Generate launch description for loading a controller using spawner.
@@ -32,13 +31,12 @@ def generate_load_controller_launch_description(
 
     Examples
     --------
-      # Assuming the controller type and controller parameters are known to the controller_manager
+      # Assuming the controller parameters are known to the controller_manager
       generate_load_controller_launch_description('joint_state_broadcaster')
 
-      # Passing controller type and controller parameter file to load
+      # Passing controller parameter file to load the controller (Controller type is retrieved from config file)
       generate_load_controller_launch_description(
         'joint_state_broadcaster',
-        controller_type='joint_state_broadcaster/JointStateBroadcaster',
         controller_params_file=os.path.join(get_package_share_directory('my_pkg'),
                                             'config', 'controller_params.yaml'),
         extra_spawner_args=[--load-only]
@@ -62,15 +60,6 @@ def generate_load_controller_launch_description(
         LaunchConfiguration("controller_manager_name"),
     ]
 
-    if controller_type:
-        warnings.warn(
-            "The 'controller_type' argument is deprecated and will be removed in future releases."
-            " Declare the controller type parameter in the param file instead.",
-            DeprecationWarning,
-            stacklevel=2,
-        )
-        spawner_arguments += ["--controller-type", controller_type]
-
     if controller_params_file:
         spawner_arguments += ["--param-file", controller_params_file]
 

controller_manager/controller_manager/spawner.py

@@ -166,6 +166,7 @@ def main(args=None):
         "-p",
         "--param-file",
         help="Controller param file to be loaded into controller node before configure",
+        default=None,
         required=False,
     )
     parser.add_argument(
@@ -183,13 +184,6 @@ def main(args=None):
         action="store_true",
         required=False,
     )
-    parser.add_argument(
-        "-t",
-        "--controller-type",
-        help="If not provided it should exist in the controller manager namespace (deprecated)",
-        default=None,
-        required=False,
-    )
     parser.add_argument(
         "-u",
         "--unload-on-kill",
@@ -227,14 +221,6 @@ def main(args=None):
     param_file = args.param_file
     controller_manager_timeout = args.controller_manager_timeout
 
-    if args.controller_type:
-        warnings.filterwarnings("always")
-        warnings.warn(
-            "The '--controller-type' argument is deprecated and will be removed in future releases."
-            " Declare the controller type parameter in the param file instead.",
-            DeprecationWarning,
-        )
-
     if param_file and not os.path.isfile(param_file):
         raise FileNotFoundError(errno.ENOENT, os.strerror(errno.ENOENT), param_file)
 
@@ -258,7 +244,6 @@ def main(args=None):
 
         for controller_name in controller_names:
             fallback_controllers = args.fallback_controllers
-            controller_type = args.controller_type
             prefixed_controller_name = controller_name
             if controller_namespace:
                 prefixed_controller_name = controller_namespace + "/" + controller_name
@@ -270,10 +255,11 @@ def main(args=None):
                     + bcolors.ENDC
                 )
             else:
-                if not controller_type and param_file:
-                    controller_type = get_parameter_from_param_file(
-                        controller_name, param_file, "type"
-                    )
+                controller_type = (
+                    None
+                    if param_file is None
+                    else get_parameter_from_param_file(controller_name, param_file, "type")
+                )
                 if controller_type:
                     parameter = Parameter()
                     parameter.name = prefixed_controller_name + ".type"

controller_manager/test/test_spawner_unspawner.cpp

@@ -244,22 +244,6 @@ TEST_F(TestLoadController, multi_ctrls_test_type_in_param)
   }
 }
 
-TEST_F(TestLoadController, spawner_test_type_in_arg)
-{
-  // Provide controller type via -t argument
-  EXPECT_EQ(
-    call_spawner(
-      "ctrl_2 -c test_controller_manager -t " +
-      std::string(test_controller::TEST_CONTROLLER_CLASS_NAME)),
-    0);
-
-  ASSERT_EQ(cm_->get_loaded_controllers().size(), 1ul);
-  auto ctrl_2 = cm_->get_loaded_controllers()[0];
-  ASSERT_EQ(ctrl_2.info.name, "ctrl_2");
-  ASSERT_EQ(ctrl_2.info.type, test_controller::TEST_CONTROLLER_CLASS_NAME);
-  ASSERT_EQ(ctrl_2.c->get_state().id(), lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
-}
-
 TEST_F(TestLoadController, spawner_test_type_in_params_file)
 {
   const std::string test_file_path = ament_index_cpp::get_package_prefix("controller_manager") +

doc/release_notes.rst

@@ -69,6 +69,7 @@ controller_manager
 
    The parameters within the ``ros2_control`` tag are not supported any more.
 * The support for the ``description`` parameter for loading the URDF was removed (`#1358 <https://github.com/ros-controls/ros2_control/pull/1358>`_).
+* The ``--controller-type`` or ``-t`` spawner arg is removed. Now the controller type is defined in the controller configuration file with ``type`` field (`#1639 <https://github.com/ros-controls/ros2_control/pull/1639>`_).
 
 hardware_interface
 ******************