Fix deprecation warnings when constructing rclcpp::Duration objects

If we are constructing from nanoseconds we must be explicit about the units.

Signed-off-by: Jacob Perron <jacob@openrobotics.org>

src/robot_localization_estimator.cpp

@@ -182,7 +182,7 @@ void RobotLocalizationEstimator::extrapolate(
   rclcpp::Time time_stamp = rclcpp::Time(
     boundary_state.time_stamp *
     1000000000);
-  rclcpp::Duration delta_duration = rclcpp::Duration(delta * 1000000000);
+  rclcpp::Duration delta_duration = rclcpp::Duration::from_nanoseconds(delta * 1000000000);
   filter_->predict(time_stamp, delta_duration);
 
   state_at_req_time.time_stamp = requested_time;

src/ros_filter.cpp

@@ -72,12 +72,12 @@ RosFilter<T>::RosFilter(const rclcpp::NodeOptions & options)
   static_diag_error_level_(diagnostic_msgs::msg::DiagnosticStatus::OK),
   frequency_(30.0),
   gravitational_acceleration_(9.80665),
-  history_length_(0),
+  history_length_(0ns),
   latest_control_(),
   last_set_pose_time_(0, 0, RCL_ROS_TIME),
   latest_control_time_(0, 0, RCL_ROS_TIME),
-  tf_timeout_(0),
-  tf_time_offset_(0)
+  tf_timeout_(0ns),
+  tf_time_offset_(0ns)
 {
   tf_buffer_ = std::make_unique<tf2_ros::Buffer>(this->get_clock());
   tf_listener_ = std::make_unique<tf2_ros::TransformListener>(*tf_buffer_);
@@ -604,7 +604,7 @@ void RosFilter<T>::integrateMeasurements(const rclcpp::Time & current_time)
       const std::string first_measurement_topic =
         first_measurement->topic_name_;
       // revertTo may invalidate first_measurement
-      if (!revertTo(first_measurement_time - rclcpp::Duration(1))) {
+      if (!revertTo(first_measurement_time - rclcpp::Duration(1ns))) {
         RF_DEBUG(
           "ERROR: history interval is too small to revert to time " <<
             filter_utilities::toSec(first_measurement_time) << "\n");
@@ -834,18 +834,18 @@ void RosFilter<T>::loadParams()
   // Transform future dating
   double offset_tmp = this->declare_parameter("transform_time_offset", 0.0);
   tf_time_offset_ =
-    rclcpp::Duration(filter_utilities::secToNanosec(offset_tmp));
+    rclcpp::Duration::from_nanoseconds(filter_utilities::secToNanosec(offset_tmp));
 
   // Transform timeout
   double timeout_tmp = this->declare_parameter("transform_timeout", 0.0);
-  tf_timeout_ = rclcpp::Duration(filter_utilities::secToNanosec(timeout_tmp));
+  tf_timeout_ = rclcpp::Duration::from_nanoseconds(filter_utilities::secToNanosec(timeout_tmp));
 
   // Update frequency and sensor timeout
   frequency_ = this->declare_parameter("frequency", 30.0);
 
   double sensor_timeout = this->declare_parameter("sensor_timeout", 1.0 / frequency_);
   filter_.setSensorTimeout(
-    rclcpp::Duration(filter_utilities::secToNanosec(sensor_timeout)));
+    rclcpp::Duration::from_nanoseconds(filter_utilities::secToNanosec(sensor_timeout)));
 
   // Determine if we're in 2D mode
   two_d_mode_ = this->declare_parameter("two_d_mode", false);
@@ -865,7 +865,7 @@ void RosFilter<T>::loadParams()
       " specified. Absolute value will be assumed.";
   }
 
-  history_length_ = rclcpp::Duration(
+  history_length_ = rclcpp::Duration::from_nanoseconds(
     filter_utilities::secToNanosec(std::abs(history_length_double)));
 
   // Whether we reset filter on jump back in time
@@ -1663,7 +1663,7 @@ void RosFilter<T>::loadParams()
 
     filter_.setControlParams(
       control_update_vector,
-      rclcpp::Duration(filter_utilities::secToNanosec(control_timeout)),
+      rclcpp::Duration::from_nanoseconds(filter_utilities::secToNanosec(control_timeout)),
       acceleration_limits, acceleration_gains, deceleration_limits,
       deceleration_gains);