Fixing foxy CI (#157)

* Fixing foxy CI

Co-authored-by: livanov93 <[email protected]>

Author: destogl

.github/workflows/ci-build-binary-foxy.yml renamed to .github/workflows/ci-build-binary.yml

@@ -1,4 +1,4 @@
-name: Binary Build - Foxy
+name: Binary Build
 on:
   pull_request:
     branches:

ur_controllers/src/force_torque_sensor_broadcaster.cpp

@@ -32,11 +32,10 @@ controller_interface::return_type ForceTorqueStateBroadcaster::init(const std::s
   }
 
   try {
-    auto node = get_node();
-    node->declare_parameter<std::vector<std::string>>("state_interface_names", {});
-    node->declare_parameter<std::string>("sensor_name", "");
-    node->declare_parameter<std::string>("topic_name", "");
-    node->declare_parameter<std::string>("frame_id", "");
+    auto_declare<std::vector<std::string>>("state_interface_names", {});
+    auto_declare<std::string>("sensor_name", "");
+    auto_declare<std::string>("topic_name", "");
+    auto_declare<std::string>("frame_id", "");
   } catch (const std::exception& e) {
     fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what());
     return controller_interface::return_type::ERROR;

ur_controllers/src/speed_scaling_state_broadcaster.cpp

@@ -60,7 +60,7 @@ controller_interface::InterfaceConfiguration SpeedScalingStateBroadcaster::state
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 SpeedScalingStateBroadcaster::on_configure(const rclcpp_lifecycle::State& /*previous_state*/)
 {
-  node_->declare_parameter("state_publish_rate");
+  auto_declare<double>("state_publish_rate", 100.0);
 
   if (!node_->get_parameter("state_publish_rate", publish_rate_)) {
     RCLCPP_INFO(get_node()->get_logger(), "Parameter 'state_publish_rate' not set");