Hardware components extension for lifecycle support #503
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destogl
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hardware_interface/include/hardware_interface/actuator_interface.hpp
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hardware_interface/include/hardware_interface/types/lifecycle_state_names.hpp
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Karsten1987
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I am a bit hesitant to merge the rclcpp_lifecycle dependency on the hardware interfaces. So far it's been a relatively lean setup with mostly leaf dependencies such as rcutils etc. With the lifecycle nodes we get the full stack of ROS2 attached to the hardware interfaces.
Additionally, I am not sure exactly what we win by this addition. Couldn't we just emulate the lifecycle API ourselves? Looking at the current change, there's not too much leverage taken. I guess if we inherited from the lifecycle interfaces, we'd get the declarations and their implementations for free which makes the diff smaller.
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@Karsten1987, @bmagyar this is ready for (harsh) review :D |
destogl
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destogl
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destogl
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hardware_interface/include/hardware_interface/system_interface.hpp
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This was referenced Sep 20, 2021
bmagyar
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Sep 24, 2021
hardware_interface/include/hardware_interface/sensor_interface.hpp
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Co-authored-by: Bence Magyar <bence.magyar.robotics@gmail.com>
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PR 503 changes a bunch of stuff. ros-controls/ros2_control#503 `ros2_control` distro `hardware_interface` package dropped the `hardware_interface/base_interface.hpp` header. Notes say to replace `hardware_interface::BaseInterface<hardware_interface::SystemInterface>` with `hardware_interface::SystemInterface` In file included from [...]/hal_ros_control/hal_hw_interface/src/hal_system_interface.cpp:39: [...]/hal_ros_control/hal_hw_interface/include/hal_hw_interface/hal_system_interface.hpp:48:10: fatal error: hardware_interface/base_interface.hpp: No such file or directory 48 | #include "hardware_interface/base_interface.hpp" | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ compilation terminated. gmake[2]: *** [CMakeFiles/hal_system_interface.dir/build.make:76: CMakeFiles/hal_system_interface.dir/src/hal_system_interface.cpp.o] Error 1 Notes also say to rename `configure()` to `on_init()` and change return type to `CallbackReturn`. Replace `on_init()` `return_type::ERROR` with `CallbackReturn::ERROR`.
zultron
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PR 503 changes a bunch of stuff. ros-controls/ros2_control#503 `ros2_control` distro `hardware_interface` package dropped the `hardware_interface/base_interface.hpp` header. Notes say to replace `hardware_interface::BaseInterface<hardware_interface::SystemInterface>` with `hardware_interface::SystemInterface` In file included from [...]/hal_ros_control/hal_hw_interface/src/hal_system_interface.cpp:39: [...]/hal_ros_control/hal_hw_interface/include/hal_hw_interface/hal_system_interface.hpp:48:10: fatal error: hardware_interface/base_interface.hpp: No such file or directory 48 | #include "hardware_interface/base_interface.hpp" | ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ compilation terminated. gmake[2]: *** [CMakeFiles/hal_system_interface.dir/build.make:76: CMakeFiles/hal_system_interface.dir/src/hal_system_interface.cpp.o] Error 1 Notes also say to rename `configure()` to `on_init()` and change return type to `CallbackReturn`. Replace `on_init()` `return_type::ERROR` with `CallbackReturn::ERROR`.
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This is proposal for #107 (check the last tree comments there also).
Compoentns are now using the same structre as controller for the lifecycle.