From 74984f9f98fbd714440ffb24763df3142ce76833 Mon Sep 17 00:00:00 2001
From: Florian Vahl <7vahl@informatik.uni-hamburg.de>
Date: Wed, 3 May 2023 19:02:18 +0200
Subject: [PATCH] Use rclcpp events executor

---
 bitbots_buttons/CMakeLists.txt      | 2 --
 bitbots_buttons/package.xml         | 1 -
 bitbots_buttons/src/button_node.cpp | 4 ++--
 bitbots_ros_control/CMakeLists.txt  | 2 --
 bitbots_ros_control/src/node.cpp    | 4 ++--
 5 files changed, 4 insertions(+), 9 deletions(-)

diff --git a/bitbots_buttons/CMakeLists.txt b/bitbots_buttons/CMakeLists.txt
index 4129b79..02b0617 100644
--- a/bitbots_buttons/CMakeLists.txt
+++ b/bitbots_buttons/CMakeLists.txt
@@ -16,7 +16,6 @@ find_package(rclcpp REQUIRED)
 find_package(std_msgs REQUIRED)
 find_package(std_srvs REQUIRED)
 find_package(test_msgs REQUIRED)
-find_package(irobot_events_executor REQUIRED)
 
 add_executable(button_node src/button_node.cpp)
 ament_target_dependencies(button_node
@@ -27,7 +26,6 @@ ament_target_dependencies(button_node
         rclcpp
         std_msgs
         std_srvs
-        irobot_events_executor
         test_msgs)
 
 #enable_bitbots_docs()
diff --git a/bitbots_buttons/package.xml b/bitbots_buttons/package.xml
index 524c2c5..3f64c47 100644
--- a/bitbots_buttons/package.xml
+++ b/bitbots_buttons/package.xml
@@ -20,7 +20,6 @@
   <depend>bitbots_msgs</depend>
   <depend>humanoid_league_msgs</depend>
   <depend>bitbots_docs</depend>
-  <depend>irobot_events_executor</depend>
 
   <export>
       <bitbots_documentation>
diff --git a/bitbots_buttons/src/button_node.cpp b/bitbots_buttons/src/button_node.cpp
index 4abc58c..6832f10 100755
--- a/bitbots_buttons/src/button_node.cpp
+++ b/bitbots_buttons/src/button_node.cpp
@@ -7,7 +7,7 @@
 #include <bitbots_msgs/srv/manual_penalize.hpp>
 #include <test_msgs/srv/empty.hpp>
 #include <std_srvs/srv/set_bool.hpp>
-#include <rclcpp/executors/events_executor/events_executor.hpp>
+#include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
 
 using std::placeholders::_1;
 using namespace std::chrono_literals;
@@ -200,7 +200,7 @@ int main(int argc, char* argv[]) {
   rclcpp::init(argc, argv);
   auto buttons_node = std::make_shared<bitbots_buttons::ButtonNode>();
 
-  rclcpp::executors::EventsExecutor exec;
+  rclcpp::experimental::executors::EventsExecutor exec;
   exec.add_node(buttons_node);
   exec.spin();
   rclcpp::shutdown();
diff --git a/bitbots_ros_control/CMakeLists.txt b/bitbots_ros_control/CMakeLists.txt
index bc0f169..2bb26d7 100644
--- a/bitbots_ros_control/CMakeLists.txt
+++ b/bitbots_ros_control/CMakeLists.txt
@@ -17,7 +17,6 @@ find_package(diagnostic_msgs REQUIRED)
 find_package(dynamixel_workbench_toolbox REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(humanoid_league_msgs REQUIRED)
-find_package(irobot_events_executor REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
 find_package(realtime_tools REQUIRED)
@@ -63,7 +62,6 @@ ament_target_dependencies(ros_control
         dynamixel_workbench_toolbox
         hardware_interface
         humanoid_league_msgs
-        irobot_events_executor
         pluginlib
         rclcpp
         realtime_tools
diff --git a/bitbots_ros_control/src/node.cpp b/bitbots_ros_control/src/node.cpp
index c1ae59f..b8d9eb7 100755
--- a/bitbots_ros_control/src/node.cpp
+++ b/bitbots_ros_control/src/node.cpp
@@ -3,7 +3,7 @@
 #include <signal.h>
 #include <thread>
 #include <rclcpp/rclcpp.hpp>
-#include <rclcpp/executors/events_executor/events_executor.hpp>
+#include <rclcpp/experimental/executors/events_executor/events_executor.hpp>
 
 sig_atomic_t volatile request_shutdown = 0;
 
@@ -47,7 +47,7 @@ int main(int argc, char *argv[]) {
   rclcpp::Rate rate(control_loop_hz);
   rclcpp::Time stop_time;
   bool shut_down_started = false;
-  rclcpp::executors::EventsExecutor exec;
+  rclcpp::experimental::executors::EventsExecutor exec;
   exec.add_node(nh);