Deprecate the experimental EventsExecutor

rclcpp/include/rclcpp/experimental/executors/events_executor/events_executor.hpp

@@ -56,7 +56,11 @@ namespace executors
  * executor.spin();
  * executor.remove_node(node);
  */
-class EventsExecutor : public rclcpp::Executor
+class
+[[deprecated(
+    "rclcpp::experimental::executors::EventsExecutor is deprecated and will be removed in "
+    "m-turtle. use rclcpp::executors::EventsCBGExecutor in single-threaded mode instead")]]
+EventsExecutor : public rclcpp::Executor
 {
 public:
   RCLCPP_SMART_PTR_DEFINITIONS(EventsExecutor)

rclcpp/src/rclcpp/experimental/executors/events_executor/events_executor.cpp

@@ -18,10 +18,14 @@
 #include <utility>
 #include <vector>
 
+#include "rcpputils/compile_warnings.hpp"
 #include "rcpputils/scope_exit.hpp"
 
 using namespace std::chrono_literals;
 
+// Disable deprecation warnings while maintaining the EventsExecutor
+RCPPUTILS_DEPRECATION_WARNING_OFF_START
+
 using rclcpp::experimental::executors::EventsExecutor;
 
 EventsExecutor::EventsExecutor(
@@ -454,3 +458,5 @@ EventsExecutor::add_notify_waitable_to_collection(
     {this->notify_waitable_, weak_group_ptr}
   });
 }
+
+RCPPUTILS_DEPRECATION_WARNING_OFF_STOP

rclcpp/test/rclcpp/executors/executor_types.hpp

@@ -20,11 +20,16 @@
 #include <string>
 #include <type_traits>
 
+#include "rcpputils/compile_warnings.hpp"
+
 #include "rclcpp/executors/events_cbg_executor/events_cbg_executor.hpp"
 #include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
 #include "rclcpp/executors/single_threaded_executor.hpp"
 #include "rclcpp/executors/multi_threaded_executor.hpp"
 
+// Disable deprecation warnings while maintaining the EventsExecutor
+RCPPUTILS_DEPRECATION_WARNING_OFF_START
+
 using ExecutorTypes =
   ::testing::Types<
   rclcpp::executors::SingleThreadedExecutor,
@@ -65,4 +70,6 @@ using StandardExecutors =
   rclcpp::executors::EventsCBGExecutor,
   rclcpp::experimental::executors::EventsExecutor>;
 
+RCPPUTILS_DEPRECATION_WARNING_OFF_STOP
+
 #endif  // RCLCPP__EXECUTORS__EXECUTOR_TYPES_HPP_

rclcpp/test/rclcpp/executors/test_events_executor.cpp

@@ -21,9 +21,14 @@
 #include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
 #include "rclcpp/node.hpp"
 
+#include "rcpputils/compile_warnings.hpp"
+
 #include "test_msgs/srv/empty.hpp"
 #include "test_msgs/msg/empty.hpp"
 
+// Disable deprecation warnings while maintaining the EventsExecutor
+RCPPUTILS_DEPRECATION_WARNING_OFF_START
+
 using namespace std::chrono_literals;
 
 using rclcpp::experimental::executors::EventsExecutor;
@@ -672,3 +677,5 @@ TEST_F(TestEventsExecutor, keep_all_transient_local_receives_cached_message)
        "rmw_subscription_set_on_new_message_callback where unread_count "
        "is incorrectly clipped to depth=0 for KEEP_ALL history.";
 }
+
+RCPPUTILS_DEPRECATION_WARNING_OFF_STOP

rclcpp/test/rclcpp/executors/test_executors_warmup.cpp

@@ -26,6 +26,8 @@
 #include <type_traits>
 #include <utility>
 
+#include "rcpputils/compile_warnings.hpp"
+
 #include "rclcpp/rclcpp.hpp"
 
 #include "test_msgs/msg/empty.hpp"
@@ -146,11 +148,13 @@ TYPED_TEST(TestExecutorsWarmup, spin_some_doesnt_require_warmup)
   // TODO(alsora): currently only the events-executor passes this test.
   // Enable single-threaded and multi-threaded executors
   // when https://github.com/ros2/rclcpp/pull/2595 gets merged
+  RCPPUTILS_DEPRECATION_WARNING_OFF_START
   if (
     !std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>())
   {
     GTEST_SKIP();
   }
+  RCPPUTILS_DEPRECATION_WARNING_OFF_STOP
 
   ExecutorType executor;
 
@@ -191,11 +195,13 @@ TYPED_TEST(TestExecutorsWarmup, spin_some_doesnt_require_warmup_with_cbgroup)
   // TODO(alsora): currently only the events-executor passes this test.
   // Enable single-threaded and multi-threaded executors
   // when https://github.com/ros2/rclcpp/pull/2595 gets merged
+  RCPPUTILS_DEPRECATION_WARNING_OFF_START
   if (
     !std::is_same<ExecutorType, rclcpp::experimental::executors::EventsExecutor>())
   {
     GTEST_SKIP();
   }
+  RCPPUTILS_DEPRECATION_WARNING_OFF_STOP
 
   ExecutorType executor;
 

rclcpp_action/test/test_server.cpp

@@ -1067,7 +1067,7 @@ TEST_F(TestServer, goals_expired_with_events_executor)
   rclcpp::ExecutorOptions opts;
   opts.context = node->get_node_base_interface()->get_context();
 
-  rclcpp::experimental::executors::EventsExecutor executor(opts);
+  rclcpp::executors::EventsCBGExecutor executor(opts, 1);
   executor.add_node(node);
   const std::vector<GoalUUID> uuids{
     {{1, 2, 3, 40, 5, 6, 70, 8, 9, 1, 11, 120, 13, 140, 15, 160}},
@@ -1132,7 +1132,7 @@ TEST_F(TestServer, goals_expired_with_events_executor)
     // Wait for the result request to be received
     ASSERT_EQ(
       rclcpp::FutureReturnCode::SUCCESS,
-      executor.spin_until_future_complete(future));
+      executor.spin_until_future_complete(future, std::chrono::seconds(20)));
 
     auto response = future.get();
     EXPECT_EQ(action_msgs::msg::GoalStatus::STATUS_SUCCEEDED, response->status);

rclcpp_components/src/component_container_event.cpp

@@ -14,6 +14,7 @@
 
 #include <memory>
 
+#include "rcpputils/compile_warnings.hpp"
 #include "rclcpp/utilities.hpp"
 #include "rclcpp/experimental/executors/events_executor/events_executor.hpp"
 
@@ -27,7 +28,12 @@ int main(int argc, char * argv[])
 
   /// Component container with an events executor.
   rclcpp::init(argc, argv);
+
+  // Disable deprecation warnings while maintaining the EventsExecutor
+  RCPPUTILS_DEPRECATION_WARNING_OFF_START
   auto exec = std::make_shared<rclcpp::experimental::executors::EventsExecutor>();
+  RCPPUTILS_DEPRECATION_WARNING_OFF_STOP
+
   auto node = std::make_shared<rclcpp_components::ComponentManager>(exec);
   exec->add_node(node);
   exec->spin();