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Fix all deprecation warnings #108

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Merged
christophfroehlich merged 3 commits into from
Dec 4, 2025
Merged

Fix all deprecation warnings #108

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cb7bf7a
Fix all deprecation warnings
sea-bass Nov 29, 2025
77d7d1b
Fix logic bug
sea-bass Nov 30, 2025
7413732
Restore logic to implicitly cast as before
sea-bass Nov 30, 2025
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5 changes: 3 additions & 2 deletions robotiq_controllers/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -25,8 +25,9 @@ target_include_directories(${PROJECT_NAME} PRIVATE
include
)

ament_target_dependencies(${PROJECT_NAME}
${THIS_PACKAGE_INCLUDE_DEPENDS}
target_link_libraries(${PROJECT_NAME}
controller_interface::controller_interface
${std_srvs_TARGETS}
)

pluginlib_export_plugin_description_file(controller_interface controller_plugins.xml)
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13 changes: 9 additions & 4 deletions robotiq_controllers/src/robotiq_activation_controller.cpp
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Expand Up @@ -105,14 +105,19 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn Roboti
bool RobotiqActivationController::reactivateGripper(std_srvs::srv::Trigger::Request::SharedPtr /*req*/,
std_srvs::srv::Trigger::Response::SharedPtr resp)
{
command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].set_value(ASYNC_WAITING);
command_interfaces_[REACTIVATE_GRIPPER_CMD].set_value(1.0);
resp->success = command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].set_value(ASYNC_WAITING);
resp->success &= command_interfaces_[REACTIVATE_GRIPPER_CMD].set_value(1.0);

while (command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_value() == ASYNC_WAITING)
while (true)
{
const auto maybe_value = command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_optional();
if (maybe_value && maybe_value.value() != ASYNC_WAITING)
{
break;
}
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().has_value();

@christophfroehlich christophfroehlich Nov 30, 2025 •
edited
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I'm not familiar with this code here, but should this really be has_value()?

Suggested change
resp->success &= command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_optional().has_value();
if (resp->success &= command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_optional().has_value()) {
resp->success &= command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_optional().value();
}

This would have more similar logic to before.

@sea-bass sea-bass Nov 30, 2025

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So get_value() returns a double, I think this was being implicitly cast before which is why I changed it.

@sea-bass sea-bass Nov 30, 2025

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In fact, with some of the other changes in this PR using the value instead of a boolean expression causes a compilation error!

@christophfroehlich christophfroehlich Nov 30, 2025

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I see the problem with the cast, but get_optional.has_value() is not the same as get_value() before. (as I said, I don't know what info is actually in the interface).

@sea-bass sea-bass Nov 30, 2025

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fair point, I kept the old behavior and left a comment for someone who knows what's supposed to happen to maybe fix it later


return resp->success;
}
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8 changes: 6 additions & 2 deletions robotiq_driver/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -61,9 +61,13 @@ target_include_directories(
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
ament_target_dependencies(
target_link_libraries(
robotiq_driver
${THIS_PACKAGE_INCLUDE_DEPENDS}
hardware_interface::hardware_interface
pluginlib::pluginlib
rclcpp::rclcpp
rclcpp_lifecycle::rclcpp_lifecycle
serial::serial
)

###############################################################################
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4 changes: 2 additions & 2 deletions robotiq_driver/include/robotiq_driver/hardware_interface.hpp
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Expand Up @@ -72,12 +72,12 @@ class RobotiqGripperHardwareInterface : public hardware_interface::SystemInterfa
/**
* Initialization of the hardware interface from data parsed from the
* robot's URDF.
* @param hardware_info Structure with data from URDF.
* @param params Structure with parameters for initializing this hardware component.
* @returns CallbackReturn::SUCCESS if required data are provided and can be
* 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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19 changes: 10 additions & 9 deletions robotiq_driver/src/hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -72,30 +72,31 @@ 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;
}

// Read parameters.
gripper_closed_pos_ = stod(info_.hardware_parameters["gripper_closed_position"]);
gripper_closed_pos_ = stod(info_.hardware_parameters.at("gripper_closed_position"));
gripper_max_speed_ = info_.hardware_parameters.count("gripper_max_speed") ?
stod(info_.hardware_parameters["gripper_max_speed"]) :
stod(info_.hardware_parameters.at("gripper_max_speed")) :
kGripperMaxSpeed;
gripper_max_force_ = info_.hardware_parameters.count("gripper_max_force") ?
stod(info_.hardware_parameters["gripper_max_force"]) :
stod(info_.hardware_parameters.at("gripper_max_force")) :
kGripperMaxforce;
gripper_position_ = std::numeric_limits<double>::quiet_NaN();
gripper_velocity_ = std::numeric_limits<double>::quiet_NaN();
gripper_position_command_ = std::numeric_limits<double>::quiet_NaN();
reactivate_gripper_cmd_ = NO_NEW_CMD_;
reactivate_gripper_async_cmd_.store(false);

const hardware_interface::ComponentInfo& joint = info_.joints[0];
const hardware_interface::ComponentInfo& joint = info_.joints.at(0);

// There is one command interface: position.
if (joint.command_interfaces.size() != 1)
Expand All @@ -105,10 +106,10 @@ hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_init(cons
return CallbackReturn::ERROR;
}

if (joint.command_interfaces[0].name != hardware_interface::HW_IF_POSITION)
if (joint.command_interfaces.at(0).name != hardware_interface::HW_IF_POSITION)
{
RCLCPP_FATAL(kLogger, "Joint '%s' has %s command interfaces found. '%s' expected.", joint.name.c_str(),
joint.command_interfaces[0].name.c_str(), hardware_interface::HW_IF_POSITION);
joint.command_interfaces.at(0).name.c_str(), hardware_interface::HW_IF_POSITION);
return CallbackReturn::ERROR;
}

Expand All @@ -126,7 +127,7 @@ hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_init(cons
joint.state_interfaces[i].name == hardware_interface::HW_IF_VELOCITY))
{
RCLCPP_FATAL(kLogger, "Joint '%s' has %s state interface. Expected %s or %s.", joint.name.c_str(),
joint.state_interfaces[i].name.c_str(), hardware_interface::HW_IF_POSITION,
joint.state_interfaces.at(i).name.c_str(), hardware_interface::HW_IF_POSITION,
hardware_interface::HW_IF_VELOCITY);
return CallbackReturn::ERROR;
}
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7 changes: 5 additions & 2 deletions robotiq_driver/tests/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -19,8 +19,11 @@ ament_add_gmock(test_robotiq_gripper_hardware_interface
target_include_directories(test_robotiq_gripper_hardware_interface
PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}
)
target_link_libraries(test_robotiq_gripper_hardware_interface robotiq_driver)
ament_target_dependencies(test_robotiq_gripper_hardware_interface)
target_link_libraries(
test_robotiq_gripper_hardware_interface
robotiq_driver
hardware_interface::hardware_interface
)

###############################################################################
# test_default_serial_factory
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2 changes: 1 addition & 1 deletion robotiq_hardware_tests/CMakeLists.txt
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Expand Up @@ -31,6 +31,6 @@ add_executable(full_test
src/command_line_utility.hpp
src/command_line_utility.cpp
)
ament_target_dependencies(full_test robotiq_driver)
target_link_libraries(full_test robotiq_driver::robotiq_driver)

ament_package()
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