hal_hw_interface: Update for Humble ros2_control

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`.

hal_hw_interface/include/hal_hw_interface/hal_system_interface.hpp

@@ -45,7 +45,6 @@
 #include <unordered_map>
 
 #include "hardware_interface/handle.hpp"
-#include "hardware_interface/base_interface.hpp"
 #include "hardware_interface/system_interface.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 #include "rclcpp_lifecycle/state.hpp"
@@ -100,16 +99,15 @@ namespace hal_system_interface
  * [1]: https://github.com/PickNikRobotics/ros_control_boilerplate
  */
 
-class HalSystemInterface : public hardware_interface::BaseInterface<
- hardware_interface::SystemInterface>
+class HalSystemInterface : public hardware_interface::SystemInterface
 {
 public:
  // Define aliases and static functions for using the Class with shared_ptrs
  RCLCPP_SHARED_PTR_DEFINITIONS(HalSystemInterface);
 
  HAL_HW_INTERFACE_PUBLIC
- hardware_interface::return_type
- configure(const hardware_interface::HardwareInfo& info) override;
+ CallbackReturn
+ on_init(const hardware_interface::HardwareInfo& info) override;
 
  HAL_HW_INTERFACE_PUBLIC
  std::vector<hardware_interface::StateInterface>
@@ -130,10 +128,10 @@ class HalSystemInterface : public hardware_interface::BaseInterface<
  // const std::vector<std::string> & /*stop_interfaces*/) override;
 
  HAL_HW_INTERFACE_PUBLIC
- hardware_interface::return_type start() override;
+ CallbackReturn on_activate();
 
  HAL_HW_INTERFACE_PUBLIC
- hardware_interface::return_type stop() override;
+ CallbackReturn on_deactivate();
 
  HAL_HW_INTERFACE_PUBLIC
  hardware_interface::return_type read(const rclcpp::Time & time, const rclcpp::Duration & period) override;

hal_hw_interface/src/hal_system_interface.cpp

@@ -108,12 +108,12 @@ void HalSystemInterface::init_state_interface(const std::string joint_name,
  .handle_storage = 0.0 };
 }
 
-hardware_interface::return_type
-HalSystemInterface::configure(const hardware_interface::HardwareInfo& info)
+CallbackReturn
+HalSystemInterface::on_init(const hardware_interface::HardwareInfo& info)
 {
- if (configure_default(info) != hardware_interface::return_type::OK)
+ if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
  {
- return hardware_interface::return_type::ERROR;
+ return CallbackReturn::ERROR;
  }
 
  HAL_ROS_INFO_NAMED(LOG_NAME, "Initializing HAL hardware interface");
@@ -149,7 +149,7 @@ HalSystemInterface::configure(const hardware_interface::HardwareInfo& info)
 
  HAL_ROS_INFO_NAMED(LOG_NAME, "Initialized HAL pins");
 
- return hardware_interface::return_type::OK;
+ return CallbackReturn::SUCCESS;
 } // configure()
 
 std::vector<hardware_interface::StateInterface>
@@ -190,16 +190,16 @@ hardware_interface::return_type HalSystemInterface::write([[maybe_unused]] const
  return hardware_interface::return_type::OK;
 }
 
-hardware_interface::return_type HalSystemInterface::start()
+CallbackReturn HalSystemInterface::on_activate()
 {
  HAL_ROS_INFO_NAMED(LOG_NAME, "Starting HAL system interface");
- return hardware_interface::return_type::OK;
+ return CallbackReturn::SUCCESS;
 }
 
-hardware_interface::return_type HalSystemInterface::stop()
+CallbackReturn HalSystemInterface::on_deactivate()
 {
  HAL_ROS_INFO_NAMED(LOG_NAME, "Stopping HAL system interface");
- return hardware_interface::return_type::OK;
+ return CallbackReturn::SUCCESS;
 }
 
 } // namespace hal_system_interface