⬆️ ihmc-ros2-library 1.1.0

ihmcrobotics · Dec 5, 2024 · 958b92b · 958b92b
1 parent a2ad9cf
commit 958b92b
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Showing 4 changed files with 7 additions and 10 deletions.
diff --git a/build.gradle.kts b/build.gradle.kts
@@ -2,7 +2,7 @@ import us.ihmc.idl.generator.IDLGenerator
 
 buildscript {
    dependencies {
-      classpath("us.ihmc:ihmc-pub-sub-generator:0.20.0")
+      classpath("us.ihmc:ihmc-pub-sub-generator:1.1.0")
    }
 }
 
@@ -39,8 +39,8 @@ mainDependencies {
    api("us.ihmc:ihmc-video-codecs:2.1.6")
    api("us.ihmc:ihmc-realtime:1.6.0")
    api("us.ihmc:ihmc-java-decklink-capture:0.4.0")
-   api("us.ihmc:ihmc-pub-sub:0.20.1")
-   api("us.ihmc:ihmc-pub-sub-serializers-extra:0.20.1")
+   api("us.ihmc:ihmc-pub-sub:1.1.0")
+   api("us.ihmc:ihmc-pub-sub-serializers-extra:1.1.0")
    api("us.ihmc:ihmc-commons:0.34.0")
    api("us.ihmc:ihmc-graphics-description:0.25.2")
    api("us.ihmc:mecano:17-0.19.0")

diff --git a/src/main/java/us/ihmc/robotDataLogger/guiRecorder/GUICaptureReceiver.java b/src/main/java/us/ihmc/robotDataLogger/guiRecorder/GUICaptureReceiver.java
@@ -3,7 +3,6 @@
 import com.eprosima.xmlschemas.fastrtps_profiles.ReliabilityQosKindPolicyType;
 import us.ihmc.pubsub.Domain;
 import us.ihmc.pubsub.DomainFactory;
-import us.ihmc.pubsub.DomainFactory.PubSubImplementation;
 import us.ihmc.pubsub.attributes.ParticipantProfile;
 import us.ihmc.pubsub.attributes.SubscriberAttributes;
 import us.ihmc.pubsub.common.MatchingInfo;
@@ -18,7 +17,7 @@
 public class GUICaptureReceiver implements SubscriberListener
 {
    private final String topicName;
-   private final Domain domain = DomainFactory.getDomain(PubSubImplementation.FAST_RTPS);
+   private final Domain domain = DomainFactory.getDomain();
    private final Participant participant;
    private final GUICaptureHandler handler;
    private final ByteBuffer receiveBuffer = ByteBuffer.allocateDirect(GUICaptureStreamer.MAXIMUM_IMAGE_DATA_SIZE);

diff --git a/src/main/java/us/ihmc/robotDataLogger/guiRecorder/GUICaptureStreamer.java b/src/main/java/us/ihmc/robotDataLogger/guiRecorder/GUICaptureStreamer.java
@@ -10,7 +10,6 @@
 import us.ihmc.commons.thread.ThreadTools;
 import us.ihmc.pubsub.Domain;
 import us.ihmc.pubsub.DomainFactory;
-import us.ihmc.pubsub.DomainFactory.PubSubImplementation;
 import us.ihmc.pubsub.attributes.ParticipantProfile;
 import us.ihmc.pubsub.attributes.PublisherAttributes;
 import us.ihmc.pubsub.participant.Participant;
@@ -42,7 +41,7 @@ public class GUICaptureStreamer
    private final CaptureRunner captureRunner = new CaptureRunner();
    private final Dimension size = new Dimension();
 
-   private Domain domain = DomainFactory.getDomain(PubSubImplementation.FAST_RTPS);
+   private Domain domain = DomainFactory.getDomain();
    private Participant participant;
    private Publisher publisher;
    private final String topicName;

diff --git a/src/test/java/us/ihmc/robotDataLogger/rtps/VariableChangeRequestTest.java b/src/test/java/us/ihmc/robotDataLogger/rtps/VariableChangeRequestTest.java
@@ -5,7 +5,6 @@
 import us.ihmc.commons.thread.ThreadTools;
 import us.ihmc.pubsub.Domain;
 import us.ihmc.pubsub.DomainFactory;
-import us.ihmc.pubsub.DomainFactory.PubSubImplementation;
 import us.ihmc.pubsub.attributes.ParticipantProfile;
 import us.ihmc.pubsub.common.LogLevel;
 import us.ihmc.pubsub.common.MatchingInfo;
@@ -66,7 +65,7 @@ public void onNewDataMessage(Subscriber subscriber)
       };
 
       // The domain is how the subscriber and publisher talk to each other. If this isn't set up correctly then the message won't be received
-      Domain domain = DomainFactory.getDomain(PubSubImplementation.FAST_RTPS);
+      Domain domain = DomainFactory.getDomain();
 
       // Where on the domain the publishers and subscribers will be listening on
       Participant participant = domain.createParticipant(domain.createParticipantAttributes(1, "TestParticipant"));
@@ -145,7 +144,7 @@ public void onNewDataMessage(Subscriber subscriber)
          }
       };
 
-      Domain domain = DomainFactory.getDomain(PubSubImplementation.FAST_RTPS);
+      Domain domain = DomainFactory.getDomain();
       domain.setLogLevel(LogLevel.WARNING);
 
       ParticipantProfile attr = domain.createParticipantAttributes(1, "TestParticipant");