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Fix deprecated hardware_interface API #88

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Fix deprecated hardware_interface API #88

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535b9c6
Fix deprecated hardware_interface API
christophfroehlich Oct 2, 2025
d3c5363
Fix doxygen
christophfroehlich Oct 2, 2025
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4 changes: 2 additions & 2 deletions include/dynamixel_hardware_interface/dynamixel_hardware_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -116,8 +116,8 @@ class DynamixelHardware : public
* @return Callback return indicating success or error.
*/
DYNAMIXEL_HARDWARE_INTERFACE_PUBLIC
hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo & info)
override;
hardware_interface::CallbackReturn on_init(
const hardware_interface::HardwareComponentInterfaceParams & params) override;
Comment on lines +119 to +120
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medium

While the function signature is correctly updated, the corresponding Doxygen comment at line 115 is now out of sync. Please update the @param tag to reflect the new parameter name and type for better code clarity and maintainability.

For example:

   * @param params Parameters for the hardware component interface.


/**
* @brief Exports state interfaces for ROS2.
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4 changes: 2 additions & 2 deletions src/dynamixel_hardware_interface.cpp
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Expand Up @@ -56,9 +56,9 @@ DynamixelHardware::~DynamixelHardware()
}

hardware_interface::CallbackReturn DynamixelHardware::on_init(
const hardware_interface::HardwareInfo & info)
const hardware_interface::HardwareComponentInterfaceParams & params)
{
if (hardware_interface::SystemInterface::on_init(info) !=
if (hardware_interface::SystemInterface::on_init(params) !=
hardware_interface::CallbackReturn::SUCCESS)
{
RCLCPP_ERROR_STREAM(logger_, "Failed to initialize DynamixelHardware");
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