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Silence -Wdeprecated-declarations in diff_drive_controller #2139

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Merged
bmagyar merged 1 commit into from
Feb 11, 2026
Merged

Silence -Wdeprecated-declarations in diff_drive_controller #2139

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16 changes: 16 additions & 0 deletions diff_drive_controller/src/odometry.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,7 +68,11 @@ bool Odometry::update(double left_pos, double right_pos, const rclcpp::Time & ti
left_wheel_old_pos_ = left_wheel_cur_pos;
right_wheel_old_pos_ = right_wheel_cur_pos;

// Disable deprecated warnings
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
updateFromVelocity(left_wheel_est_vel, right_wheel_est_vel, time);
#pragma GCC diagnostic pop

return true;
}
Expand Down Expand Up @@ -105,7 +109,11 @@ bool Odometry::updateFromVelocity(double left_vel, double right_vel, const rclcp
const double angular = (right_vel - left_vel) / wheel_separation_;

// Integrate odometry:
// Disable deprecated warnings
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
integrateExact(linear, angular);
#pragma GCC diagnostic pop

timestamp_ = time;

Expand Down Expand Up @@ -152,7 +160,11 @@ void Odometry::updateOpenLoop(double linear, double angular, const rclcpp::Time
/// Integrate odometry:
const double dt = time.seconds() - timestamp_.seconds();
timestamp_ = time;
// Disable deprecated warnings
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
integrateExact(linear * dt, angular * dt);
#pragma GCC diagnostic pop
}

bool Odometry::try_update_open_loop(double linear_vel, double angular_vel, double dt)
Expand Down Expand Up @@ -203,7 +215,11 @@ void Odometry::integrateExact(double linear, double angular)
{
if (fabs(angular) < 1e-6)
{
// Disable deprecated warnings
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wdeprecated-declarations"
integrateRungeKutta2(linear, angular);
#pragma GCC diagnostic pop
}
else
{
Expand Down