Fix deprecated hardware_interface API

robotiq_driver/include/robotiq_driver/default_driver_factory.hpp

@@ -50,10 +50,10 @@ class DefaultDriverFactory : public DriverFactory
    * @param info The hardware information.
    * @return A driver to interact with the hardware.
    */
-  std::unique_ptr<Driver> create(const hardware_interface::HardwareInfo& info) const;
+  std::unique_ptr<Driver> create(const hardware_interface::HardwareComponentInterfaceParams& params) const;
 
 protected:
   // Seam for testing.
-  virtual std::unique_ptr<Driver> create_driver(const hardware_interface::HardwareInfo& info) const;
+  virtual std::unique_ptr<Driver> create_driver(const hardware_interface::HardwareComponentInterfaceParams& params) const;
 };
 }  // namespace robotiq_driver

robotiq_driver/include/robotiq_driver/default_serial_factory.hpp

@@ -49,7 +49,7 @@ class DefaultSerialFactory : public SerialFactory
    * @param info The hardware information.
    * @return A sarial interface to communicate with the hardware.
    */
-  std::unique_ptr<Serial> create(const hardware_interface::HardwareInfo& info) const;
+  std::unique_ptr<Serial> create(const hardware_interface::HardwareComponentInterfaceParams& params) const;
 
 protected:
   // Seam for testing.

robotiq_driver/include/robotiq_driver/driver_factory.hpp

@@ -48,6 +48,6 @@ namespace robotiq_driver
 class DriverFactory
 {
 public:
-  virtual std::unique_ptr<Driver> create(const hardware_interface::HardwareInfo& info) const = 0;
+  virtual std::unique_ptr<Driver> create(const hardware_interface::HardwareComponentInterfaceParams& params) const = 0;
 };
 }  // namespace robotiq_driver

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.

robotiq_driver/include/robotiq_driver/serial_factory.hpp

@@ -49,7 +49,7 @@ namespace robotiq_driver
 class SerialFactory
 {
 public:
-  virtual std::unique_ptr<Serial> create(const hardware_interface::HardwareInfo& info) const = 0;
+  virtual std::unique_ptr<Serial> create(const hardware_interface::HardwareComponentInterfaceParams& params) const = 0;
 };
 
 }  // namespace robotiq_driver

robotiq_driver/src/default_driver_factory.cpp

@@ -53,7 +53,7 @@ constexpr double kGripperForceMultiplierParamDefault = 1.0;
 constexpr auto kUseDummyParamName = "use_dummy";
 constexpr auto kUseDummyParamDefault = "false";
 
-std::unique_ptr<Driver> DefaultDriverFactory::create(const hardware_interface::HardwareInfo& info) const
+std::unique_ptr<Driver> DefaultDriverFactory::create(const hardware_interface::HardwareComponentInterfaceParams& params) const
 {
   RCLCPP_INFO(kLogger, "Reading %s...", kSlaveAddressParamName);
   // Convert base-16 address stored as a string (for example, "0x9") into an integer
@@ -83,7 +83,7 @@ std::unique_ptr<Driver> DefaultDriverFactory::create(const hardware_interface::H
   return driver;
 }
 
-std::unique_ptr<Driver> DefaultDriverFactory::create_driver(const hardware_interface::HardwareInfo& info) const
+std::unique_ptr<Driver> DefaultDriverFactory::create_driver(const hardware_interface::HardwareComponentInterfaceParams& params) const
 {
   // We give the user an option to startup a dummy gripper for testing purposes.
   if (info.hardware_parameters.count(kUseDummyParamName) &&

robotiq_driver/src/default_serial_factory.cpp

@@ -45,7 +45,7 @@ constexpr auto kBaudrateAddressParamDefault = 115200;
 constexpr auto kTimeoutParamName = "timeout";
 constexpr auto kTimeoutParamDefault = 0.5;
 
-std::unique_ptr<Serial> DefaultSerialFactory::create(const hardware_interface::HardwareInfo& info) const
+std::unique_ptr<Serial> DefaultSerialFactory::create(const hardware_interface::HardwareComponentInterfaceParams& params) const
 {
   RCLCPP_INFO(kLogger, "Reading %s...", kUsbPortParamName);
   std::string usb_port = info.hardware_parameters.count(kUsbPortParamName) ?

robotiq_driver/src/hardware_interface.cpp

@@ -72,11 +72,12 @@ 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;
   }

robotiq_driver/tests/test_default_driver_factory.cpp

@@ -45,7 +45,7 @@ class TestDriverFactory : public DefaultDriverFactory
   }
 
 protected:
-  std::unique_ptr<Driver> create_driver([[maybe_unused]] const hardware_interface::HardwareInfo& info) const override
+  std::unique_ptr<Driver> create_driver([[maybe_unused]] const hardware_interface::HardwareComponentInterfaceParams& params) const override
   {
     return std::move(driver_);
   }