Suggestions and fixes for humble CI. write method return value handling.

Author: livanov93

ign_ros2_control/include/ign_ros2_control/ign_system.hpp

@@ -22,12 +22,12 @@
 #include <vector>
 
 #include "ign_ros2_control/ign_system_interface.hpp"
-#include "ign_ros2_control_parameters.hpp"
 
 #include "rclcpp/executors/single_threaded_executor.hpp"
 #include "rclcpp_lifecycle/state.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
+#include "ign_ros2_control_parameters.hpp"
 
 namespace ign_ros2_control
 {

ign_ros2_control/src/MimicJointSystem.cc

@@ -371,6 +371,9 @@ void MimicJointSystem::PreUpdate(
       return;
     }
 
+    // If the mode is not ABS, default mode is PID
+    // (e.g.) MimicJointSystemPrivate::OperationMode::PID
+
     // Update force command.
     double force = this->dataPtr->posPid.Update(error, _info.dt);
 
@@ -391,14 +394,12 @@ void MimicJointSystem::Update(
   const ignition::gazebo::UpdateInfo & /*_info*/,
   ignition::gazebo::EntityComponentManager & /*_ecm*/)
 {
-//  ignmsg << "MimicJointSystem::Update" << std::endl;
 }
 
 void MimicJointSystem::PostUpdate(
   const ignition::gazebo::UpdateInfo & /*_info*/,
   const ignition::gazebo::EntityComponentManager & /*_ecm*/)
 {
-//  ignmsg << "MimicJointSystem::PostUpdate" << std::endl;
 }
 
 //! [registerMimicJointSystem]

ign_ros2_control/src/ign_system.cpp

@@ -43,7 +43,7 @@
 #include <ignition/gazebo/components/Sensor.hh>
 
 // pid_pos stuff
-#include <gz/math/PID.hh>
+#include <ignition/math/PID.hh>
 
 #include <ignition/transport/Node.hh>
 
@@ -79,10 +79,10 @@ struct jointData
   ignition::gazebo::Entity sim_joint;
 
   /// \brief PID for position control
-  gz::math::PID pid_pos;
+  ignition::math::PID pid_pos;
 
   /// \brief PID for velocity control
-  gz::math::PID pid_vel;
+  ignition::math::PID pid_vel;
 
   /// \brief Control method defined in the URDF for each joint.
   ign_ros2_control::IgnitionSystemInterface::ControlMethod joint_control_method;
@@ -1098,9 +1098,8 @@ hardware_interface::return_type IgnitionSystem::write(
         }
       }
     }
-
-    return hardware_interface::return_type::OK;
   }
+  return hardware_interface::return_type::OK;
 }
 
 } // namespace ign_ros2_control