Fix deprecated hardware_interface API

[christophfroehlich]

See ros-controls/ros2_control#2323
needed for ros-controls/ros2_control#2589

Please release it to kilted and rolling, thanks :)
Note: This API is not available on humble.

[MarcosZ]

I also found another error when building for Jazzy along these lines:

--- stderr: hardware_interface                                                                                                                             
In file included from /root/workspace/ros2_kortex_ws/src/ros2_control/hardware_interface/include/hardware_interface/actuator_interface.hpp:18,
                 from /root/workspace/ros2_kortex_ws/src/ros2_control/hardware_interface/include/hardware_interface/actuator.hpp:18,
                 from /root/workspace/ros2_kortex_ws/src/ros2_control/hardware_interface/include/hardware_interface/resource_manager.hpp:23,
                 from /root/workspace/ros2_kortex_ws/src/ros2_control/hardware_interface/src/resource_manager.cpp:15:
/root/workspace/ros2_kortex_ws/src/ros2_control/hardware_interface/include/hardware_interface/hardware_component_interface.hpp: In member function ‘rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn hardware_interface::HardwareComponentInterface::init(const hardware_interface::HardwareComponentParams&)’:
/root/workspace/ros2_kortex_ws/src/ros2_control/hardware_interface/include/hardware_interface/hardware_component_interface.hpp:138:23: error: ‘AsyncFunctionHandlerParams’ is not a member of ‘realtime_tools’; did you mean ‘AsyncFunctionHandler’?
  138 |       realtime_tools::AsyncFunctionHandlerParams async_thread_params;
      |                       ^~~~~~~~~~~~~~~~~~~~~~~~~~
      |                       AsyncFunctionHandler
/root/workspace/ros2_kortex_ws/src/ros2_control/hardware_interface/include/hardware_interface/hardware_component_interface.hpp:139:7: error: ‘async_thread_params’ was not declared in this scope
  139 |       async_thread_params.thread_priority = info_.async_params.thread_priority;
      |       ^~~~~~~~~~~~~~~~~~~
/root/workspace/ros2_kortex_ws/src/ros2_control/hardware_interface/include/hardware_interface/hardware_component_interface.hpp:141:25: error: ‘AsyncSchedulingPolicy’ is not a member of ‘realtime_tools’
  141 |         realtime_tools::AsyncSchedulingPolicy(info_.async_params.scheduling_policy);
      |                         ^~~~~~~~~~~~~~~~~~~~~
/root/workspace/ros2_kortex_ws/src/ros2_control/hardware_interface/include/hardware_interface/hardware_component_interface.hpp: In member function ‘void hardware_interface::HardwareComponentInterface::pause_async_operations()’:
/root/workspace/ros2_kortex_ws/src/ros2_control/hardware_interface/include/hardware_interface/hardware_component_interface.hpp:892:23: error: ‘class realtime_tools::AsyncFunctionHandler<hardware_interface::return_type>’ has no member named ‘pause_execution’
  892 |       async_handler_->pause_execution();
      |                       ^~~~~~~~~~~~~~~
In file included from /root/workspace/ros2_kortex_ws/src/ros2_control/hardware_interface/include/hardware_interface/hardware_component.hpp:23,
                 from /root/workspace/ros2_kortex_ws/src/ros2_control/hardware_interface/src/hardware_component.cpp:15:
/root/workspace/ros2_kortex_ws/src/ros2_control/hardware_interface/include/hardware_interface/hardware_component_interface.hpp: In member function ‘rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn hardware_interface::HardwareComponentInterface::init(const hardware_interface::HardwareComponentParams&)’:
/root/workspace/ros2_kortex_ws/src/ros2_control/hardware_interface/include/hardware_interface/hardware_component_interface.hpp:138:23: error: ‘AsyncFunctionHandlerParams’ is not a member of ‘realtime_tools’; did you mean ‘AsyncFunctionHandler’?
  138 |       realtime_tools::AsyncFunctionHandlerParams async_thread_params;
      |                       ^~~~~~~~~~~~~~~~~~~~~~~~~~
      |                       AsyncFunctionHandler
/root/workspace/ros2_kortex_ws/src/ros2_control/hardware_interface/include/hardware_interface/hardware_component_interface.hpp:139:7: error: ‘async_thread_params’ was not declared in this scope
  139 |       async_thread_params.thread_priority = info_.async_params.thread_priority;
      |       ^~~~~~~~~~~~~~~~~~~
/root/workspace/ros2_kortex_ws/src/ros2_control/hardware_interface/include/hardware_interface/hardware_component_interface.hpp:141:25: error: ‘AsyncSchedulingPolicy’ is not a member of ‘realtime_tools’
  141 |         realtime_tools::AsyncSchedulingPolicy(info_.async_params.scheduling_policy);
      |                         ^~~~~~~~~~~~~~~~~~~~~
/root/workspace/ros2_kortex_ws/src/ros2_control/hardware_interface/include/hardware_interface/hardware_component_interface.hpp: In member function ‘void hardware_interface::HardwareComponentInterface::pause_async_operations()’:
/root/workspace/ros2_kortex_ws/src/ros2_control/hardware_interface/include/hardware_interface/hardware_component_interface.hpp:892:23: error: ‘class realtime_tools::AsyncFunctionHandler<hardware_interface::return_type>’ has no member named ‘pause_execution’
  892 |       async_handler_->pause_execution();
      |                       ^~~~~~~~~~~~~~~
gmake[2]: *** [CMakeFiles/hardware_interface.dir/build.make:104: CMakeFiles/hardware_interface.dir/src/hardware_component.cpp.o] Error 1
gmake[2]: *** Waiting for unfinished jobs....
gmake[2]: *** [CMakeFiles/hardware_interface.dir/build.make:90: CMakeFiles/hardware_interface.dir/src/resource_manager.cpp.o] Error 1
gmake[1]: *** [CMakeFiles/Makefile2:198: CMakeFiles/hardware_interface.dir/all] Error 2
gmake[1]: *** Waiting for unfinished jobs....
gmake: *** [Makefile:146: all] Error 2
---
Failed   <<< hardware_interface [17.3s, exited with code 2]
Aborted  <<< control_toolbox [56.2s]                                                                                            
Aborted  <<< ros_gz_bridge [2min 58s]                                           
                                        
Summary: 18 packages finished [3min 41s]
  1 package failed: hardware_interface
  2 packages aborted: control_toolbox ros_gz_bridge
  5 packages had stderr output: control_toolbox generate_parameter_library_example hardware_interface kortex_api ros_gz_bridge
  52 packages not processed

[christophfroehlich]

we released realtime_tools recently with the new asynchandler. you either have to use ros2-testing or compile realtime_tools from source