change argument order for state_publisher and command_forwarder

Author: mamueluth

hardware_interface/include/hardware_interface/distributed_control_interface/command_forwarder.hpp

@@ -24,7 +24,7 @@ class CommandForwarder final
 public:
   explicit CommandForwarder(
     std::unique_ptr<hardware_interface::LoanedCommandInterface> loaned_command_interface_ptr,
-    std::chrono::milliseconds period_in_ms, const std::string & ns = "");
+    const std::string & ns, std::chrono::milliseconds period_in_ms);
 
   CommandForwarder() = delete;
 

hardware_interface/include/hardware_interface/distributed_control_interface/state_publisher.hpp

@@ -22,7 +22,7 @@ class StatePublisher final
 public:
   explicit StatePublisher(
     std::unique_ptr<hardware_interface::LoanedStateInterface> loaned_state_interface_ptr,
-    std::chrono::milliseconds period_in_ms, const std::string & ns = "");
+    const std::string & ns, std::chrono::milliseconds period_in_ms);
 
   StatePublisher() = delete;
 
@@ -49,7 +49,7 @@ class StatePublisher final
 
   std::unique_ptr<hardware_interface::LoanedStateInterface> loaned_state_interface_ptr_;
   const std::string namespace_;
-  std::chrono::milliseconds period_in_ms_;
+  const std::chrono::milliseconds period_in_ms_;
 
   const std::string topic_name_;
   std::shared_ptr<rclcpp_lifecycle::LifecycleNode> node_;

hardware_interface/src/hardware_interface/distributed_control_interface/command_forwarder.cpp

@@ -13,10 +13,10 @@ namespace distributed_control
 
 CommandForwarder::CommandForwarder(
   std::unique_ptr<hardware_interface::LoanedCommandInterface> loaned_command_interface_ptr,
-  std::chrono::milliseconds period_in_ms, const std::string & ns)
+  const std::string & ns, std::chrono::milliseconds period_in_ms)
 : loaned_command_interface_ptr_(std::move(loaned_command_interface_ptr)),
-  period_in_ms_(period_in_ms),
   namespace_(ns),
+  period_in_ms_(period_in_ms),
   topic_name_(loaned_command_interface_ptr_->get_underscore_separated_name() + "_command_state")
 {
   rclcpp::NodeOptions node_options;

hardware_interface/src/hardware_interface/distributed_control_interface/state_publisher.cpp

@@ -13,10 +13,10 @@ namespace distributed_control
 
 StatePublisher::StatePublisher(
   std::unique_ptr<hardware_interface::LoanedStateInterface> loaned_state_interface_ptr,
-  std::chrono::milliseconds period_in_ms, const std::string & ns)
+  const std::string & ns, std::chrono::milliseconds period_in_ms)
 : loaned_state_interface_ptr_(std::move(loaned_state_interface_ptr)),
-  period_in_ms_(period_in_ms),
   namespace_(ns),
+  period_in_ms_(period_in_ms),
   topic_name_(loaned_state_interface_ptr_->get_underscore_separated_name() + "_state")
 {
   rclcpp::NodeOptions node_options;

hardware_interface/src/resource_manager.cpp

@@ -966,7 +966,7 @@ ResourceManager::create_hardware_state_publishers(
     auto state_publisher = std::make_shared<distributed_control::StatePublisher>(
       std::move(std::make_unique<hardware_interface::LoanedStateInterface>(
         claim_state_interface(state_interface))),
-      update_period, ns);
+      ns, update_period);
 
     resource_storage_->add_state_publisher(state_publisher);
     state_publishers_vec.push_back(state_publisher);
@@ -988,7 +988,7 @@ ResourceManager::create_hardware_command_forwarders(
     auto command_forwarder = std::make_shared<distributed_control::CommandForwarder>(
       std::move(std::make_unique<hardware_interface::LoanedCommandInterface>(
         claim_command_interface(command_interface))),
-      update_period, ns);
+      ns, update_period);
 
     resource_storage_->add_command_forwarder(command_forwarder);
     command_forwarders_vec.push_back(command_forwarder);