From 557df306a133a200e3f2814e5246a8fd9612e6aa Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Thu, 4 Dec 2025 07:23:18 +0000 Subject: [PATCH 1/2] Fix upstream API changes --- robotiq_controllers/src/robotiq_activation_controller.cpp | 4 ++-- robotiq_driver/include/robotiq_driver/hardware_interface.hpp | 2 +- robotiq_driver/src/hardware_interface.cpp | 4 ++-- 3 files changed, 5 insertions(+), 5 deletions(-) diff --git a/robotiq_controllers/src/robotiq_activation_controller.cpp b/robotiq_controllers/src/robotiq_activation_controller.cpp index aa63d214..e4ebf07f 100644 --- a/robotiq_controllers/src/robotiq_activation_controller.cpp +++ b/robotiq_controllers/src/robotiq_activation_controller.cpp @@ -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; } diff --git a/robotiq_driver/include/robotiq_driver/hardware_interface.hpp b/robotiq_driver/include/robotiq_driver/hardware_interface.hpp index 517249ab..9af6c576 100644 --- a/robotiq_driver/include/robotiq_driver/hardware_interface.hpp +++ b/robotiq_driver/include/robotiq_driver/hardware_interface.hpp @@ -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. diff --git a/robotiq_driver/src/hardware_interface.cpp b/robotiq_driver/src/hardware_interface.cpp index b837af51..7bef8244 100644 --- a/robotiq_driver/src/hardware_interface.cpp +++ b/robotiq_driver/src/hardware_interface.cpp @@ -72,11 +72,11 @@ 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; } From b8a8a2f18a92cb5ff34e9627560e87a6a938e2d3 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Thu, 4 Dec 2025 07:31:54 +0000 Subject: [PATCH 2/2] Fix pre-commit --- robotiq_driver/src/hardware_interface.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/robotiq_driver/src/hardware_interface.cpp b/robotiq_driver/src/hardware_interface.cpp index 7bef8244..1b77464a 100644 --- a/robotiq_driver/src/hardware_interface.cpp +++ b/robotiq_driver/src/hardware_interface.cpp @@ -72,7 +72,8 @@ RobotiqGripperHardwareInterface::RobotiqGripperHardwareInterface(std::unique_ptr { } -hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_init(const hardware_interface::HardwareComponentInterfaceParams& params) +hardware_interface::CallbackReturn +RobotiqGripperHardwareInterface::on_init(const hardware_interface::HardwareComponentInterfaceParams& params) { RCLCPP_DEBUG(kLogger, "on_init");