Delete failing parameter undeclare in JointGroupPositionController (ros-controls#222)

* delete failing parameter unset from joint group position controller

* explicitly set the interface_name parameter to HW_IF_POSITION

* set interface_name param in velocity and effort controllers

* fix line spacing and length

* additional code style fix

Author: schornakj

effort_controllers/src/joint_group_effort_controller.cpp

@@ -40,8 +40,10 @@ JointGroupEffortController::init(
   }
 
   try {
-    // undeclare interface parameter used in the general forward_command_controller
-    get_node()->undeclare_parameter("interface_name");
+    // Explicitly set the interface parameter declared by the forward_command_controller
+    // to match the value set in the JointGroupEffortController constructor.
+    get_node()->set_parameter(
+      rclcpp::Parameter("interface_name", hardware_interface::HW_IF_EFFORT));
   } catch (const std::exception & e) {
     fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what());
     return controller_interface::return_type::ERROR;

position_controllers/src/joint_group_position_controller.cpp

@@ -39,8 +39,10 @@ JointGroupPositionController::init(const std::string & controller_name)
   }
 
   try {
-    // undeclare interface parameter used in the general forward_command_controller
-    get_node()->undeclare_parameter("interface_name");
+    // Explicitly set the interface parameter declared by the forward_command_controller
+    // to match the value set in the JointGroupPositionController constructor.
+    get_node()->set_parameter(
+      rclcpp::Parameter("interface_name", hardware_interface::HW_IF_POSITION));
   } catch (const std::exception & e) {
     fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what());
     return controller_interface::return_type::ERROR;

velocity_controllers/src/joint_group_velocity_controller.cpp

@@ -40,8 +40,10 @@ JointGroupVelocityController::init(
   }
 
   try {
-    // undeclare interface parameter used in the general forward_command_controller
-    get_node()->undeclare_parameter("interface_name");
+    // Explicitly set the interface parameter declared by the forward_command_controller
+    // to match the value set in the JointGroupVelocityController constructor.
+    get_node()->set_parameter(
+      rclcpp::Parameter("interface_name", hardware_interface::HW_IF_VELOCITY));
   } catch (const std::exception & e) {
     fprintf(stderr, "Exception thrown during init stage with message: %s \n", e.what());
     return controller_interface::return_type::ERROR;