convert to SystemInterface

Author: MarqRazz

robotiq_description/urdf/robotiq_gripper.urdf.xacro

@@ -7,7 +7,7 @@
     <xacro:include filename="$(find robotiq_description)/urdf/robotiq_gripper_macro.urdf.xacro" />
 
     <link name="world" />
-    <xacro:robotiq_gripper name="RobotiqGripperSystem" prefix="" parent="world" use_fake_hardware="$(arg use_fake_hardware)">
+    <xacro:robotiq_gripper name="RobotiqGripperHardwareInterface" prefix="" parent="world" use_fake_hardware="$(arg use_fake_hardware)">
         <origin xyz="0 0 0" rpy="0 0 0" />
     </xacro:robotiq_gripper>
 </robot>

robotiq_driver/hardware_interface_plugin.xml

@@ -1,5 +1,5 @@
 <library path="robotiq_driver">
-    <class name="robotiq_driver/RobotiqGripperHardwareInterface" type="robotiq_driver::RobotiqGripperHardwareInterface" base_class_type="hardware_interface::ActuatorInterface">
+    <class name="robotiq_driver/RobotiqGripperHardwareInterface" type="robotiq_driver::RobotiqGripperHardwareInterface" base_class_type="hardware_interface::SystemInterface">
         <description>
             ROS2 controller for the Robotiq gripper.
         </description>

robotiq_driver/include/robotiq_driver/hardware_interface.hpp

@@ -32,7 +32,6 @@
 #include <string>
 #include <vector>
 
-#include "hardware_interface/actuator_interface.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/system_interface.hpp"
@@ -45,7 +44,7 @@
 
 namespace robotiq_driver
 {
-class RobotiqGripperHardwareInterface : public hardware_interface::ActuatorInterface
+class RobotiqGripperHardwareInterface : public hardware_interface::SystemInterface
 {
 public:
   RCLCPP_SHARED_PTR_DEFINITIONS(RobotiqGripperHardwareInterface)

robotiq_driver/launch/robotiq_control.launch.py

@@ -74,7 +74,7 @@ def generate_launch_description():
             " ",
             LaunchConfiguration("model"),
             " ",
-            "use_sim:=false",
+            "use_fake_hardware:=false",
         ]
     )
     robot_description_param = {

robotiq_driver/src/hardware_interface.cpp

@@ -53,7 +53,7 @@ RobotiqGripperHardwareInterface::RobotiqGripperHardwareInterface()
 hardware_interface::CallbackReturn
 RobotiqGripperHardwareInterface::on_init(const hardware_interface::HardwareInfo& info)
 {
-  if (hardware_interface::ActuatorInterface::on_init(info) != CallbackReturn::SUCCESS)
+  if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
   {
     return CallbackReturn::ERROR;
   }
@@ -248,4 +248,4 @@ hardware_interface::return_type RobotiqGripperHardwareInterface::write(const rcl
 
 #include "pluginlib/class_list_macros.hpp"
 
-PLUGINLIB_EXPORT_CLASS(robotiq_driver::RobotiqGripperHardwareInterface, hardware_interface::ActuatorInterface)
+PLUGINLIB_EXPORT_CLASS(robotiq_driver::RobotiqGripperHardwareInterface, hardware_interface::SystemInterface)