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Fix deprecated hardware_interface API #98

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christophfroehlich wants to merge 2 commits into from
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Fix deprecated hardware_interface API #98

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557df30
Fix upstream API changes
christophfroehlich Dec 4, 2025
b8a8a2f
Fix pre-commit
christophfroehlich Dec 4, 2025
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4 changes: 2 additions & 2 deletions robotiq_controllers/src/robotiq_activation_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -108,11 +108,11 @@ bool RobotiqActivationController::reactivateGripper(std_srvs::srv::Trigger::Requ
command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].set_value(ASYNC_WAITING);
command_interfaces_[REACTIVATE_GRIPPER_CMD].set_value(1.0);

while (command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_value() == ASYNC_WAITING)
while (command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_optional().value() == ASYNC_WAITING)
{
std::this_thread::sleep_for(std::chrono::milliseconds(50));
}
resp->success = command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_value();
resp->success = command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_optional().value();

return resp->success;
}
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2 changes: 1 addition & 1 deletion robotiq_driver/include/robotiq_driver/hardware_interface.hpp
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Expand Up @@ -77,7 +77,7 @@ class RobotiqGripperHardwareInterface : public hardware_interface::SystemInterfa
* parsed or CallbackReturn::ERROR if any error happens or data are missing.
*/
ROBOTIQ_DRIVER_PUBLIC
CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override;
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams& params) override;

/**
* Connect to the hardware.
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5 changes: 3 additions & 2 deletions robotiq_driver/src/hardware_interface.cpp
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Expand Up @@ -72,11 +72,12 @@ RobotiqGripperHardwareInterface::RobotiqGripperHardwareInterface(std::unique_ptr
{
}

hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_init(const hardware_interface::HardwareInfo& info)
hardware_interface::CallbackReturn
RobotiqGripperHardwareInterface::on_init(const hardware_interface::HardwareComponentInterfaceParams& params)
{
RCLCPP_DEBUG(kLogger, "on_init");

if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
if (hardware_interface::SystemInterface::on_init(params) != CallbackReturn::SUCCESS)
{
return CallbackReturn::ERROR;
}
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