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Migrate to component lifecycle #89

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Migrate to component lifecycle #89

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6 changes: 3 additions & 3 deletions gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -38,7 +38,7 @@ class GazeboSystem : public GazeboSystemInterface
{
public:
// Documentation Inherited
hardware_interface::return_type configure(const hardware_interface::HardwareInfo & system_info)
CallbackReturn on_init(const hardware_interface::HardwareInfo & system_info)
override;

// Documentation Inherited
Expand All @@ -48,10 +48,10 @@ class GazeboSystem : public GazeboSystemInterface
std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;

// Documentation Inherited
hardware_interface::return_type start() override;
CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;

// Documentation Inherited
hardware_interface::return_type stop() override;
CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;

// Documentation Inherited
hardware_interface::return_type read() override;
Expand Down
4 changes: 1 addition & 3 deletions gazebo_ros2_control/include/gazebo_ros2_control/gazebo_system_interface.hpp
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Expand Up @@ -24,9 +24,7 @@
#include "gazebo/physics/Model.hh"
#include "gazebo/physics/physics.hh"

#include "hardware_interface/base_interface.hpp"
#include "hardware_interface/system_interface.hpp"
#include "hardware_interface/types/hardware_interface_type_values.hpp"

#include "rclcpp/rclcpp.hpp"

Expand Down Expand Up @@ -60,7 +58,7 @@ class SafeEnum

// SystemInterface provides API-level access to read and command joint properties.
class GazeboSystemInterface
: public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
: public hardware_interface::SystemInterface
{
public:
/// \brief Initilize the system interface
Expand Down
23 changes: 12 additions & 11 deletions gazebo_ros2_control/src/gazebo_system.cpp
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Expand Up @@ -22,6 +22,9 @@
#include "gazebo/sensors/ImuSensor.hh"
#include "gazebo/sensors/ForceTorqueSensor.hh"
#include "gazebo/sensors/SensorManager.hh"

#include "hardware_interface/types/hardware_interface_type_values.hpp"

class gazebo_ros2_control::GazeboSystemPrivate
{
public:
Expand Down Expand Up @@ -346,13 +349,13 @@ void GazeboSystem::registerSensors(
}
}

hardware_interface::return_type
GazeboSystem::configure(const hardware_interface::HardwareInfo & actuator_info)
CallbackReturn
GazeboSystem::on_init(const hardware_interface::HardwareInfo & actuator_info)
{
if (configure_default(actuator_info) != hardware_interface::return_type::OK) {
return hardware_interface::return_type::ERROR;
if (hardware_interface::SystemInterface::on_init(actuator_info) != CallbackReturn::SUCCESS) {
return CallbackReturn::ERROR;
}
return hardware_interface::return_type::OK;
return CallbackReturn::SUCCESS;
}

std::vector<hardware_interface::StateInterface>
Expand All @@ -367,16 +370,14 @@ GazeboSystem::export_command_interfaces()
return std::move(this->dataPtr->command_interfaces_);
}

hardware_interface::return_type GazeboSystem::start()
CallbackReturn GazeboSystem::on_activate(const rclcpp_lifecycle::State & previous_state)
{
status_ = hardware_interface::status::STARTED;
return hardware_interface::return_type::OK;
return CallbackReturn::SUCCESS;
}

hardware_interface::return_type GazeboSystem::stop()
CallbackReturn GazeboSystem::on_deactivate(const rclcpp_lifecycle::State & previous_state)
{
status_ = hardware_interface::status::STOPPED;
return hardware_interface::return_type::OK;
return CallbackReturn::SUCCESS;
}

hardware_interface::return_type GazeboSystem::read()
Expand Down