use unordered map and adjust tests

Author: mamueluth

hardware_interface/include/hardware_interface/actuator_interface.hpp

@@ -16,7 +16,6 @@
 #define HARDWARE_INTERFACE__ACTUATOR_INTERFACE_HPP_
 
 #include <limits>
-#include <map>
 #include <memory>
 #include <string>
 #include <unordered_map>
@@ -396,8 +395,8 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
   rclcpp::Clock::SharedPtr get_clock() const { return clock_interface_->get_clock(); }
 
   HardwareInfo info_;
-  std::map<std::string, InterfaceDescription> joint_state_interfaces_;
-  std::map<std::string, InterfaceDescription> joint_command_interfaces_;
+  std::unordered_map<std::string, InterfaceDescription> joint_state_interfaces_;
+  std::unordered_map<std::string, InterfaceDescription> joint_command_interfaces_;
 
   std::unordered_map<std::string, std::shared_ptr<StateInterface>> actuator_states_;
   std::unordered_map<std::string, std::shared_ptr<CommandInterface>> actuator_commands_;

hardware_interface/include/hardware_interface/sensor_interface.hpp

@@ -16,7 +16,6 @@
 #define HARDWARE_INTERFACE__SENSOR_INTERFACE_HPP_
 
 #include <limits>
-#include <map>
 #include <memory>
 #include <string>
 #include <unordered_map>
@@ -264,7 +263,7 @@ class SensorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
 
   HardwareInfo info_;
 
-  std::map<std::string, InterfaceDescription> sensor_state_interfaces_;
+  std::unordered_map<std::string, InterfaceDescription> sensor_state_interfaces_;
 
   std::unordered_map<std::string, std::shared_ptr<StateInterface>> sensor_states_;
 

hardware_interface/include/hardware_interface/system_interface.hpp

@@ -16,7 +16,6 @@
 #define HARDWARE_INTERFACE__SYSTEM_INTERFACE_HPP_
 
 #include <limits>
-#include <map>
 #include <memory>
 #include <string>
 #include <unordered_map>
@@ -436,13 +435,13 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
   rclcpp::Clock::SharedPtr get_clock() const { return clock_interface_->get_clock(); }
 
   HardwareInfo info_;
-  std::map<std::string, InterfaceDescription> joint_state_interfaces_;
-  std::map<std::string, InterfaceDescription> joint_command_interfaces_;
+  std::unordered_map<std::string, InterfaceDescription> joint_state_interfaces_;
+  std::unordered_map<std::string, InterfaceDescription> joint_command_interfaces_;
 
-  std::map<std::string, InterfaceDescription> sensor_state_interfaces_;
+  std::unordered_map<std::string, InterfaceDescription> sensor_state_interfaces_;
 
-  std::map<std::string, InterfaceDescription> gpio_state_interfaces_;
-  std::map<std::string, InterfaceDescription> gpio_command_interfaces_;
+  std::unordered_map<std::string, InterfaceDescription> gpio_state_interfaces_;
+  std::unordered_map<std::string, InterfaceDescription> gpio_command_interfaces_;
 
   std::unordered_map<std::string, std::shared_ptr<StateInterface>> system_states_;
   std::unordered_map<std::string, std::shared_ptr<CommandInterface>> system_commands_;