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Fix deprecation warning from hardware interface. #35

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Fix deprecation warning from hardware interface. #35

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2 changes: 1 addition & 1 deletion include/topic_based_ros2_control/topic_based_system.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -55,7 +55,7 @@ using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
class TopicBasedSystem : public hardware_interface::SystemInterface
{
public:
CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override;
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams& params) override;

std::vector<hardware_interface::StateInterface> export_state_interfaces() override;

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30 changes: 15 additions & 15 deletions src/topic_based_system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,9 +61,9 @@ static constexpr std::size_t VELOCITY_INTERFACE_INDEX = 1;
// JointState doesn't contain an acceleration field, so right now it's not used
static constexpr std::size_t EFFORT_INTERFACE_INDEX = 3;

CallbackReturn TopicBasedSystem::on_init(const hardware_interface::HardwareInfo& info)
CallbackReturn TopicBasedSystem::on_init(const hardware_interface::HardwareComponentInterfaceParams& params)
{
if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
if (hardware_interface::SystemInterface::on_init(params) != CallbackReturn::SUCCESS)
{
return CallbackReturn::ERROR;
}
Expand All @@ -73,14 +73,14 @@ CallbackReturn TopicBasedSystem::on_init(const hardware_interface::HardwareInfo&
joint_states_.resize(standard_interfaces_.size());
for (auto i = 0u; i < standard_interfaces_.size(); i++)
{
joint_commands_[i].resize(info_.joints.size(), 0.0);
joint_states_[i].resize(info_.joints.size(), 0.0);
joint_commands_[i].resize(params.hardware_info.joints.size(), 0.0);
joint_states_[i].resize(params.hardware_info.joints.size(), 0.0);
}

// Initial command values
for (auto i = 0u; i < info_.joints.size(); i++)
for (auto i = 0u; i < params.hardware_info.joints.size(); i++)
{
const auto& component = info_.joints[i];
const auto& component = params.hardware_info.joints[i];
for (const auto& interface : component.state_interfaces)
{
auto it = std::find(standard_interfaces_.begin(), standard_interfaces_.end(), interface.name);
Expand All @@ -99,24 +99,24 @@ CallbackReturn TopicBasedSystem::on_init(const hardware_interface::HardwareInfo&
}

// Search for mimic joints
for (auto i = 0u; i < info_.joints.size(); ++i)
for (auto i = 0u; i < params.hardware_info.joints.size(); ++i)
{
const auto& joint = info_.joints.at(i);
const auto& joint = params.hardware_info.joints.at(i);
if (joint.parameters.find("mimic") != joint.parameters.cend())
{
const auto mimicked_joint_it = std::find_if(
info_.joints.begin(), info_.joints.end(),
params.hardware_info.joints.begin(), params.hardware_info.joints.end(),
[&mimicked_joint = joint.parameters.at("mimic")](const hardware_interface::ComponentInfo& joint_info) {
return joint_info.name == mimicked_joint;
});
if (mimicked_joint_it == info_.joints.cend())
if (mimicked_joint_it == params.hardware_info.joints.cend())
{
throw std::runtime_error(std::string("Mimicked joint '") + joint.parameters.at("mimic") + "' not found");
}
MimicJoint mimic_joint;
mimic_joint.joint_index = i;
mimic_joint.mimicked_joint_index =
static_cast<std::size_t>(std::distance(info_.joints.begin(), mimicked_joint_it));
static_cast<std::size_t>(std::distance(params.hardware_info.joints.begin(), mimicked_joint_it));
auto param_it = joint.parameters.find("multiplier");
if (param_it != joint.parameters.end())
{
Expand All @@ -126,8 +126,8 @@ CallbackReturn TopicBasedSystem::on_init(const hardware_interface::HardwareInfo&
}
}

const auto get_hardware_parameter = [this](const std::string& parameter_name, const std::string& default_value) {
if (auto it = info_.hardware_parameters.find(parameter_name); it != info_.hardware_parameters.end())
const auto get_hardware_parameter = [&params](const std::string& parameter_name, const std::string& default_value) {
if (auto it = params.hardware_info.hardware_parameters.find(parameter_name); it != params.hardware_info.hardware_parameters.end())
{
return it->second;
}
Expand All @@ -136,11 +136,11 @@ CallbackReturn TopicBasedSystem::on_init(const hardware_interface::HardwareInfo&

// Add random ID to prevent warnings about multiple publishers within the same node
rclcpp::NodeOptions options;
options.arguments({ "--ros-args", "-r", "__node:=topic_based_ros2_control_" + info_.name });
options.arguments({ "--ros-args", "-r", "__node:=topic_based_ros2_control_" + params.hardware_info.name });

node_ = rclcpp::Node::make_shared("_", options);

if (auto it = info_.hardware_parameters.find("trigger_joint_command_threshold"); it != info_.hardware_parameters.end())
if (auto it = params.hardware_info.hardware_parameters.find("trigger_joint_command_threshold"); it != params.hardware_info.hardware_parameters.end())
{
trigger_joint_command_threshold_ = std::stod(it->second);
}
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