A warning is generated during source build of moveit and moveit_tutorials related to deprecated functions setMaxVelocityScaling and setMaxAccelerationScaling which are to be replaced with setMaxVelocityScalingFactor and setMaxAccelerationScaling respectively.
Your environment
ROS Distro: Rolling
OS Version: Ubuntu 22.04
Source build
Main Branch (Commit: f226955d549b4f5e650d17b96ba1174302d7adcd)
Generates a warning about deprecated functions, and asks to replace them with new functions;
Backtrace or Console output
--- stderr: moveit2_tutorials
/home/shobuj/moveit_ws/src/moveit2_tutorials/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp: In member function ‘moveit::task_constructor::Task MTCTaskNode::createTask()’:
/home/shobuj/moveit_ws/src/moveit2_tutorials/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp:122:43: warning: ‘void moveit::task_constructor::solvers::CartesianPath::setMaxVelocityScaling(double)’ is deprecated: Replace with setMaxVelocityScalingFactor [-Wdeprecated-declarations]
122 | cartesian_planner->setMaxVelocityScaling(1.0);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
In file included from /home/shobuj/moveit_ws/install/moveit_task_constructor_core/include/moveit/task_constructor/solvers.h:41,
from /home/shobuj/moveit_ws/src/moveit2_tutorials/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp:5:
/home/shobuj/moveit_ws/install/moveit_task_constructor_core/include/moveit/task_constructor/solvers/cartesian_path.h:60:14: note: declared here
60 | void setMaxVelocityScaling(double factor) { setMaxVelocityScalingFactor(factor); }
| ^~~~~~~~~~~~~~~~~~~~~
/home/shobuj/moveit_ws/src/moveit2_tutorials/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp:123:47: warning: ‘void moveit::task_constructor::solvers::CartesianPath::setMaxAccelerationScaling(double)’ is deprecated: Replace with setMaxAccelerationScalingFactor [-Wdeprecated-declarations]
123 | cartesian_planner->setMaxAccelerationScaling(1.0);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
In file included from /home/shobuj/moveit_ws/install/moveit_task_constructor_core/include/moveit/task_constructor/solvers.h:41,
from /home/shobuj/moveit_ws/src/moveit2_tutorials/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp:5:
/home/shobuj/moveit_ws/install/moveit_task_constructor_core/include/moveit/task_constructor/solvers/cartesian_path.h:62:14: note: declared here
62 | void setMaxAccelerationScaling(double factor) { setMaxAccelerationScalingFactor(factor); }
| ^~~~~~~~~~~~~~~~~~~~~~~~~
/home/shobuj/moveit_ws/src/moveit2_tutorials/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/minimal.cpp: In member function ‘moveit::task_constructor::Task MTCTaskNode::createTask()’:
/home/shobuj/moveit_ws/src/moveit2_tutorials/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/minimal.cpp:127:43: warning: ‘void moveit::task_constructor::solvers::CartesianPath::setMaxVelocityScaling(double)’ is deprecated: Replace with setMaxVelocityScalingFactor [-Wdeprecated-declarations]
127 | cartesian_planner->setMaxVelocityScaling(1.0);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
In file included from /home/shobuj/moveit_ws/install/moveit_task_constructor_core/include/moveit/task_constructor/solvers.h:41,
from /home/shobuj/moveit_ws/src/moveit2_tutorials/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/minimal.cpp:5:
/home/shobuj/moveit_ws/install/moveit_task_constructor_core/include/moveit/task_constructor/solvers/cartesian_path.h:60:14: note: declared here
60 | void setMaxVelocityScaling(double factor) { setMaxVelocityScalingFactor(factor); }
| ^~~~~~~~~~~~~~~~~~~~~
/home/shobuj/moveit_ws/src/moveit2_tutorials/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/minimal.cpp:128:47: warning: ‘void moveit::task_constructor::solvers::CartesianPath::setMaxAccelerationScaling(double)’ is deprecated: Replace with setMaxAccelerationScalingFactor [-Wdeprecated-declarations]
128 | cartesian_planner->setMaxAccelerationScaling(1.0);
| ~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~^~~~~
In file included from /home/shobuj/moveit_ws/install/moveit_task_constructor_core/include/moveit/task_constructor/solvers.h:41,
from /home/shobuj/moveit_ws/src/moveit2_tutorials/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/minimal.cpp:5:
/home/shobuj/moveit_ws/install/moveit_task_constructor_core/include/moveit/task_constructor/solvers/cartesian_path.h:62:14: note: declared here
62 | void setMaxAccelerationScaling(double factor) { setMaxAccelerationScalingFactor(factor); }
| ^~~~~~~~~~~~~~~~~~~~~~~~~
Description
A warning is generated during source build of moveit and moveit_tutorials related to deprecated functions
setMaxVelocityScaling
andsetMaxAccelerationScaling
which are to be replaced withsetMaxVelocityScalingFactor
andsetMaxAccelerationScaling
respectively.Your environment
Steps to reproduce
Follow source build instructions on moveit_tutorials
Expected behaviour
Generates a warning about deprecated functions, and asks to replace them with new functions;
Backtrace or Console output