removing API with rclcpp new version (ros-navigation#3981)

nav2_behavior_tree/include/nav2_behavior_tree/bt_action_server_impl.hpp

@@ -135,7 +135,7 @@ bool BtActionServer<ActionT>::on_configure()
     node, "robot_base_frame", rclcpp::ParameterValue(std::string("base_link")));
   nav2_util::declare_parameter_if_not_declared(
     node, "transform_tolerance", rclcpp::ParameterValue(0.1));
-  nav2_util::copy_all_parameters(node, client_node_);
+  rclcpp::copy_all_parameter_values(node, client_node_);
 
   // set the timeout in seconds for the action server to discard goal handles if not finished
   double action_server_result_timeout;

nav2_util/include/nav2_util/node_utils.hpp

@@ -153,25 +153,6 @@ std::string get_plugin_type_param(
   return plugin_type;
 }
 
-/**
- * @brief A method to copy all parameters from one node (parent) to another (child).
- * May throw parameter exceptions in error conditions
- * @param parent Node to copy parameters from
- * @param child Node to copy parameters to
- */
-template<typename NodeT1, typename NodeT2>
-void copy_all_parameters(const NodeT1 & parent, const NodeT2 & child)
-{
-  using Parameters = std::vector<rclcpp::Parameter>;
-  std::vector<std::string> param_names = parent->list_parameters({}, 0).names;
-  Parameters params = parent->get_parameters(param_names);
-  for (Parameters::const_iterator iter = params.begin(); iter != params.end(); ++iter) {
-    if (!child->has_parameter(iter->get_name())) {
-      child->declare_parameter(iter->get_name(), iter->get_parameter_value());
-    }
-  }
-}
-
 /**
  * @brief Sets the caller thread to have a soft-realtime prioritization by
  * increasing the priority level of the host thread.

nav2_util/test/test_node_utils.cpp

@@ -94,35 +94,3 @@ TEST(GetPluginTypeParam, GetPluginTypeParam)
   ASSERT_EQ(get_plugin_type_param(node, "Foo"), "bar");
   EXPECT_THROW(get_plugin_type_param(node, "Waldo"), std::runtime_error);
 }
-
-TEST(TestParamCopying, TestParamCopying)
-{
-  auto node1 = std::make_shared<rclcpp::Node>("test_node1");
-  auto node2 = std::make_shared<rclcpp::Node>("test_node2");
-
-  // Tests for (1) multiple types, (2) recursion, (3) overriding values
-  node1->declare_parameter("Foo1", rclcpp::ParameterValue(std::string(("bar1"))));
-  node1->declare_parameter("Foo2", rclcpp::ParameterValue(0.123));
-  node1->declare_parameter("Foo", rclcpp::ParameterValue(std::string(("bar"))));
-  node1->declare_parameter("Foo.bar", rclcpp::ParameterValue(std::string(("steve"))));
-  node2->declare_parameter("Foo", rclcpp::ParameterValue(std::string(("barz2"))));
-
-  // Show Node2 is empty of Node1's parameters, but contains its own
-  EXPECT_FALSE(node2->has_parameter("Foo1"));
-  EXPECT_FALSE(node2->has_parameter("Foo2"));
-  EXPECT_FALSE(node2->has_parameter("Foo.bar"));
-  EXPECT_TRUE(node2->has_parameter("Foo"));
-  EXPECT_EQ(node2->get_parameter("Foo").as_string(), std::string("barz2"));
-
-  nav2_util::copy_all_parameters(node1, node2);
-
-  // Test new parameters exist, of expected value, and original param is not overridden
-  EXPECT_TRUE(node2->has_parameter("Foo1"));
-  EXPECT_EQ(node2->get_parameter("Foo1").as_string(), std::string("bar1"));
-  EXPECT_TRUE(node2->has_parameter("Foo2"));
-  EXPECT_EQ(node2->get_parameter("Foo2").as_double(), 0.123);
-  EXPECT_TRUE(node2->has_parameter("Foo.bar"));
-  EXPECT_EQ(node2->get_parameter("Foo.bar").as_string(), std::string("steve"));
-  EXPECT_TRUE(node2->has_parameter("Foo"));
-  EXPECT_EQ(node2->get_parameter("Foo").as_string(), std::string("barz2"));
-}