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Added hardware_interface ver 5.x.x support #1042

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Merged
merged 6 commits into from
Jul 10, 2025
+65 −2
Merged

Added hardware_interface ver 5.x.x support #1042

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4cebf64
added hardware_interface ver 5.x.x support
soham2560 Jun 27, 2025
5301dd9
added ver5.3 support
soham2560 Jul 10, 2025
5abc73b
added clang changes
soham2560 Jul 10, 2025
487486a
fixed logic for testing ver
soham2560 Jul 10, 2025
d07274d
Update webots_ros2_control/src/Ros2Control.cpp
soham2560 Jul 10, 2025
2150d16
Update webots_ros2_control/src/Ros2Control.cpp
soham2560 Jul 10, 2025
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4 changes: 2 additions & 2 deletions webots_ros2_control/src/Ros2Control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -36,7 +36,7 @@ const double CONTROLLER_MANAGER_ALLOWED_SAMPLE_ERROR_MS = 1.0;

namespace webots_ros2_control {

#if HARDWARE_INTERFACE_VERSION_MAJOR >= 4 && HARDWARE_INTERFACE_VERSION_MINOR >= 12
#if HARDWARE_INTERFACE_VERSION_MAJOR >= 5 || HARDWARE_INTERFACE_VERSION_MAJOR >= 4 && HARDWARE_INTERFACE_VERSION_MINOR >= 12
class WebotsResourceManager : public hardware_interface::ResourceManager {
public:
WebotsResourceManager(webots_ros2_driver::WebotsNode *node) :
Expand Down Expand Up @@ -118,7 +118,7 @@ namespace webots_ros2_control {
}

// Control Hardware
#if HARDWARE_INTERFACE_VERSION_MAJOR >= 4 && HARDWARE_INTERFACE_VERSION_MINOR >= 12
#if HARDWARE_INTERFACE_VERSION_MAJOR >= 5 || HARDWARE_INTERFACE_VERSION_MAJOR >= 4 && HARDWARE_INTERFACE_VERSION_MINOR >= 12
std::unique_ptr<hardware_interface::ResourceManager> resourceManager =
std::make_unique<webots_ros2_control::WebotsResourceManager>(node);
#else
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