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fix introspection for handles with variable references #2050

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Merged
merged 3 commits into from
Feb 18, 2025
Merged

fix introspection for handles with variable references #2050

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f3fadb6
fix introspection for handles with variable references
saikishor Feb 14, 2025
f275b71
Merge branch 'master' into fix/handles/registration
saikishor Feb 18, 2025
5f579ea
Merge branch 'master' into fix/handles/registration
christophfroehlich Feb 18, 2025
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12 changes: 6 additions & 6 deletions hardware_interface/include/hardware_interface/handle.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -257,17 +257,17 @@ class StateInterface : public Handle

void registerIntrospection() const
{
if (std::holds_alternative<double>(value_))
if (value_ptr_ || std::holds_alternative<double>(value_))
{
std::function<double()> f = [this]()
{ return value_ptr_ ? *value_ptr_ : std::numeric_limits<double>::quiet_NaN(); };
{ return value_ptr_ ? *value_ptr_ : std::get<double>(value_); };
DEFAULT_REGISTER_ROS2_CONTROL_INTROSPECTION("state_interface." + get_name(), f);
}
}

void unregisterIntrospection() const
{
if (std::holds_alternative<double>(value_))
if (value_ptr_ || std::holds_alternative<double>(value_))
{
DEFAULT_UNREGISTER_ROS2_CONTROL_INTROSPECTION("state_interface." + get_name());
}
Expand Down Expand Up @@ -302,17 +302,17 @@ class CommandInterface : public Handle

void registerIntrospection() const
{
if (std::holds_alternative<double>(value_))
if (value_ptr_ || std::holds_alternative<double>(value_))
{
std::function<double()> f = [this]()
{ return value_ptr_ ? *value_ptr_ : std::numeric_limits<double>::quiet_NaN(); };
{ return value_ptr_ ? *value_ptr_ : std::get<double>(value_); };
DEFAULT_REGISTER_ROS2_CONTROL_INTROSPECTION("command_interface." + get_name(), f);
}
}

void unregisterIntrospection() const
{
if (std::holds_alternative<double>(value_))
if (value_ptr_ || std::holds_alternative<double>(value_))
{
DEFAULT_UNREGISTER_ROS2_CONTROL_INTROSPECTION("command_interface." + get_name());
}
Expand Down