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Update the deprecated on_init function to use new parameter type #108

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Update the deprecated on_init function to use new parameter type #108

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3 changes: 2 additions & 1 deletion dynamixel_hardware/include/dynamixel_hardware/dynamixel_hardware.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,8 @@ class DynamixelHardware : public hardware_interface::SystemInterface
RCLCPP_SHARED_PTR_DEFINITIONS(DynamixelHardware)

DYNAMIXEL_HARDWARE_PUBLIC
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
CallbackReturn on_init(
const hardware_interface::HardwareComponentInterfaceParams & params) override;

DYNAMIXEL_HARDWARE_PUBLIC
std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
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5 changes: 3 additions & 2 deletions dynamixel_hardware/src/dynamixel_hardware.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,10 +48,11 @@ constexpr const char * const kExtraJointParameters[] = {
"Velocity_I_Gain",
};

CallbackReturn DynamixelHardware::on_init(const hardware_interface::HardwareInfo & info)
CallbackReturn DynamixelHardware::on_init(
const hardware_interface::HardwareComponentInterfaceParams & params)
{
RCLCPP_DEBUG(rclcpp::get_logger(kDynamixelHardware), "configure");
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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