Skip to content

Fix deprecated hardware_interface API #309

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
aalmrad merged 2 commits into from
Dec 9, 2025
Merged

Fix deprecated hardware_interface API #309

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
fb966eb
Fix deprecated hardware_interface API
christophfroehlich Oct 2, 2025
d36c932
Update hardware_interface.cpp
christophfroehlich Dec 3, 2025
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion kortex_driver/include/kortex_driver/hardware_interface.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,7 @@ class KortexMultiInterfaceHardware : public hardware_interface::SystemInterface
RCLCPP_SHARED_PTR_DEFINITIONS(KortexMultiInterfaceHardware);

KORTEX_DRIVER_PUBLIC
CallbackReturn on_init(const hardware_interface::HardwareInfo & info) final;
CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params) final;

KORTEX_DRIVER_PUBLIC
std::vector<hardware_interface::StateInterface> export_state_interfaces() final;
Expand Down
5 changes: 3 additions & 2 deletions kortex_driver/src/hardware_interface.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -84,10 +84,11 @@ KortexMultiInterfaceHardware::KortexMultiInterfaceHardware()
}
}

CallbackReturn KortexMultiInterfaceHardware::on_init(const hardware_interface::HardwareInfo & info)
CallbackReturn KortexMultiInterfaceHardware::on_init(
const hardware_interface::HardwareComponentInterfaceParams & params)
{
RCLCPP_INFO(LOGGER, "Configuring Hardware Interface");
if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
if (hardware_interface::SystemInterface::on_init(params) != CallbackReturn::SUCCESS)
{
return CallbackReturn::ERROR;
}
Expand Down