Remove constructors arguments deprecated since Foxy

[ivanpauno]

Cleaning up things deprecated before Foxy release.

Follow up of #189.

[jacobperron]

Based on CI results, it looks like some tests need to be updated too.

[hidmic]

LGTM pending green CI

[ivanpauno]

CI:

• Linux
• Linux-aarch64
• macOS
• Windows

[cottsay]

This change regressed the performance tests with a cryptic exception: http://build.ros2.org/view/Rci/job/Rci__nightly-performance_ubuntu_focal_amd64/112/

usage: launch_test.py [-h] [--package-name PACKAGE_NAME] [-v] [-s]
                      [--junit-xml XMLPATH]
                      launch_test_file
                      [launch_arguments [launch_arguments ...]]
launch_test.py: error: 'NoneType' object is not iterable

After modifying the code, I was able to extract a traceback:

Traceback (most recent call last):
  File "build/launch_testing/launch_testing/launch_test.py", line 140, in main
    sys.exit(run(parser, args))
  File "build/launch_testing/launch_testing/launch_test.py", line 112, in run
    results = runner.run()
  File "build/launch_testing/launch_testing/test_runner.py", line 256, in run
    results[run] = worker.run()
  File "build/launch_testing/launch_testing/test_runner.py", line 73, in run
    test_ld, test_context = self._test_run.normalized_test_description(
  File "build/launch_testing/launch_testing/loader.py", line 58, in wrapper
    return normalize(launch_description_fn(**kwargs))
  File "build/buildfarm_perf_tests/test/test/test_performance_rmw_fastrtps_cpp_async_Array60k.py", line 170, in generate_test_description
    node_under_test = Node(
  File "build/launch_ros/launch_ros/actions/node.py", line 143, in __init__
    cmd = [ExecutableInPackage(package=package, executable=executable)]
  File "build/launch_ros/launch_ros/substitutions/executable_in_package.py", line 51, in __init__
    self.__executable = normalize_to_list_of_substitutions(executable)
  File "build/launch/launch/utilities/normalize_to_list_of_substitutions_impl.py", line 44, in normalize_to_list_of_substitutions
    return [normalize(y) for y in cast(Iterable, subs)]
TypeError: 'NoneType' object is not iterable

EDIT: Looks like the regression is because this change dropped the node_executable kwarg. We'll now need to branch buildfarm_perf_tests to deal with this.

[jacobperron]

@cottsay
hm, there should have been deprecation warnings visible if using node_executable prior to this change.

[cottsay]

there should have been deprecation warnings

There were, but it didn't make the build go yellow and they were lost in the wall of text coming out of colcon test...

[clalancette]

There were, but it didn't make the build go yellow and they were lost in the wall of text coming out of colcon test...

I think this is an instance where ros2/ci#509 would have helped. It's on the long-term TODO list, but we need to spend some time on it.

Separately, I will say that that error message is hard for the end user to tell what happened. @ivanpauno @jacobperron Could we throw a nicer exception for unknown keyword arguments?

[ivanpauno]

Separately, I will say that that error message is hard for the end user to tell what happened. @ivanpauno @jacobperron Could we throw a nicer exception for unknown keyword arguments?

The error message wasn't obvious because of a mistake in this patch.
#197 is fixing that.

[jacobperron]

I found another bug.