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Fix deprecated hardware_interface API #309

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Fix deprecated hardware_interface API #309

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2 changes: 1 addition & 1 deletion kortex_driver/include/kortex_driver/hardware_interface.hpp
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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;
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5 changes: 3 additions & 2 deletions kortex_driver/src/hardware_interface.cpp
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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;
}
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