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Migrate hardware_interface's on_init method #1464

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Merged
merged 1 commit into from
Jul 28, 2025
Merged

Migrate hardware_interface's on_init method #1464

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2 changes: 1 addition & 1 deletion ur_robot_driver/include/ur_robot_driver/hardware_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -118,7 +118,7 @@ class URPositionHardwareInterface : public hardware_interface::SystemInterface
URPositionHardwareInterface();
virtual ~URPositionHardwareInterface();

hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo& system_info) final;
hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams& params) final;

std::vector<hardware_interface::StateInterface> export_state_interfaces() final;

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6 changes: 3 additions & 3 deletions ur_robot_driver/src/hardware_interface.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -101,13 +101,13 @@ URPositionHardwareInterface::~URPositionHardwareInterface()
}

hardware_interface::CallbackReturn
URPositionHardwareInterface::on_init(const hardware_interface::HardwareInfo& system_info)
URPositionHardwareInterface::on_init(const hardware_interface::HardwareComponentInterfaceParams& params)
{
if (hardware_interface::SystemInterface::on_init(system_info) != hardware_interface::CallbackReturn::SUCCESS) {
if (hardware_interface::SystemInterface::on_init(params) != hardware_interface::CallbackReturn::SUCCESS) {
return hardware_interface::CallbackReturn::ERROR;
}

info_ = system_info;
info_ = params.hardware_info;

// initialize
urcl_joint_positions_ = { { 0.0, 0.0, 0.0, 0.0, 0.0, 0.0 } };
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