From 535b9c6731754493d776653d59cfeaf6f7731f93 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Thu, 2 Oct 2025 09:38:20 +0000 Subject: [PATCH 1/2] Fix deprecated hardware_interface API --- .../dynamixel_hardware_interface.hpp | 4 ++-- src/dynamixel_hardware_interface.cpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp b/include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp index 31cd246..e453ea3 100644 --- a/include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp +++ b/include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp @@ -116,8 +116,8 @@ class DynamixelHardware : public * @return Callback return indicating success or error. */ DYNAMIXEL_HARDWARE_INTERFACE_PUBLIC - hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo & info) - override; + hardware_interface::CallbackReturn on_init( + const hardware_interface::HardwareComponentInterfaceParams & params) override; /** * @brief Exports state interfaces for ROS2. diff --git a/src/dynamixel_hardware_interface.cpp b/src/dynamixel_hardware_interface.cpp index a1c6aa1..682626d 100644 --- a/src/dynamixel_hardware_interface.cpp +++ b/src/dynamixel_hardware_interface.cpp @@ -56,9 +56,9 @@ DynamixelHardware::~DynamixelHardware() } hardware_interface::CallbackReturn DynamixelHardware::on_init( - const hardware_interface::HardwareInfo & info) + const hardware_interface::HardwareComponentInterfaceParams & params) { - if (hardware_interface::SystemInterface::on_init(info) != + if (hardware_interface::SystemInterface::on_init(params) != hardware_interface::CallbackReturn::SUCCESS) { RCLCPP_ERROR_STREAM(logger_, "Failed to initialize DynamixelHardware"); From d3c5363e8b54252af8a439d4d200852fad46637b Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Thu, 2 Oct 2025 09:59:43 +0000 Subject: [PATCH 2/2] Fix doxygen --- .../dynamixel_hardware_interface.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp b/include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp index e453ea3..237ed32 100644 --- a/include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp +++ b/include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp @@ -112,7 +112,7 @@ class DynamixelHardware : public /** * @brief Initialization callback for hardware interface. - * @param info Hardware information for the system. + * @param params Parameters for the hardware component interface. * @return Callback return indicating success or error. */ DYNAMIXEL_HARDWARE_INTERFACE_PUBLIC