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Cleanup deprecations #2589

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fc7cfa0
Cleanup deprecations
christophfroehlich Sep 29, 2025
7a43d15
Merge branch 'master' into cleanup/deprecations
christophfroehlich Oct 1, 2025
01f1ffd
Add constructor with null deleter
saikishor Oct 2, 2025
765361a
mark both the constructors explicit
saikishor Oct 2, 2025
7209d00
Merge branch 'master' into cleanup/deprecations
christophfroehlich Oct 2, 2025
52fa4a0
Exclude our own downstream packages
christophfroehlich Oct 2, 2025
87eaf04
Use constructor without deleter
christophfroehlich Oct 2, 2025
c129b77
Merge branch 'master' into cleanup/deprecations
christophfroehlich Oct 2, 2025
7d36673
Merge branch 'master' into cleanup/deprecations
christophfroehlich Oct 3, 2025
c2248be
Merge branch 'master' into cleanup/deprecations
christophfroehlich Oct 6, 2025
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76 changes: 38 additions & 38 deletions controller_interface/test/test_force_torque_sensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,20 +48,20 @@ TEST_F(ForceTorqueSensorTest, validate_all_with_default_names)
std::vector<std::string> interface_names = force_torque_sensor_->get_state_interface_names();

// assign values to force
hardware_interface::StateInterface force_x{
sensor_name_, fts_interface_names_[0], &force_values_[0]};
hardware_interface::StateInterface force_y{
sensor_name_, fts_interface_names_[1], &force_values_[1]};
hardware_interface::StateInterface force_z{
sensor_name_, fts_interface_names_[2], &force_values_[2]};
auto force_x = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, fts_interface_names_[0], &force_values_[0]);
auto force_y = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, fts_interface_names_[1], &force_values_[1]);
auto force_z = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, fts_interface_names_[2], &force_values_[2]);

// assign values to torque
hardware_interface::StateInterface torque_x{
sensor_name_, fts_interface_names_[3], &torque_values_[0]};
hardware_interface::StateInterface torque_y{
sensor_name_, fts_interface_names_[4], &torque_values_[1]};
hardware_interface::StateInterface torque_z{
sensor_name_, fts_interface_names_[5], &torque_values_[2]};
auto torque_x = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, fts_interface_names_[3], &torque_values_[0]);
auto torque_y = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, fts_interface_names_[4], &torque_values_[1]);
auto torque_z = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, fts_interface_names_[5], &torque_values_[2]);

// create local state interface vector
std::vector<hardware_interface::LoanedStateInterface> temp_state_interfaces;
Expand Down Expand Up @@ -132,16 +132,16 @@ TEST_F(ForceTorqueSensorTest, validate_all_with_custom_names)
std::vector<std::string> interface_names = force_torque_sensor_->get_state_interface_names();

// assign values to force.x and force.z
hardware_interface::StateInterface force_x{
sensor_name_, fts_interface_names_[0], &force_values_[0]};
hardware_interface::StateInterface force_z{
sensor_name_, fts_interface_names_[2], &force_values_[2]};
auto force_x = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, fts_interface_names_[0], &force_values_[0]);
auto force_z = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, fts_interface_names_[2], &force_values_[2]);

// assign values to torque.y and torque.z
hardware_interface::StateInterface torque_y{
sensor_name_, fts_interface_names_[4], &torque_values_[1]};
hardware_interface::StateInterface torque_z{
sensor_name_, fts_interface_names_[5], &torque_values_[2]};
auto torque_y = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, fts_interface_names_[4], &torque_values_[1]);
auto torque_z = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, fts_interface_names_[5], &torque_values_[2]);

// create local state interface vector
std::vector<hardware_interface::LoanedStateInterface> temp_state_interfaces;
Expand Down Expand Up @@ -214,31 +214,31 @@ TEST_F(ForceTorqueSensorTest, validate_all_custom_names)
ASSERT_EQ(force_torque_sensor_->interface_names_[5], sensor_name_ + "/" + "torque.z");

// assign values to force
hardware_interface::StateInterface force_x{
sensor_name_, fts_interface_names_[0], &force_values_[0]};
hardware_interface::StateInterface force_y{
sensor_name_, fts_interface_names_[1], &force_values_[1]};
hardware_interface::StateInterface force_z{
sensor_name_, fts_interface_names_[2], &force_values_[2]};
auto force_x = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, fts_interface_names_[0], &force_values_[0]);
auto force_y = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, fts_interface_names_[1], &force_values_[1]);
auto force_z = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, fts_interface_names_[2], &force_values_[2]);

// assign values to torque
hardware_interface::StateInterface torque_x{
sensor_name_, fts_interface_names_[3], &torque_values_[0]};
hardware_interface::StateInterface torque_y{
sensor_name_, fts_interface_names_[4], &torque_values_[1]};
hardware_interface::StateInterface torque_z{
sensor_name_, fts_interface_names_[5], &torque_values_[2]};
auto torque_x = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, fts_interface_names_[3], &torque_values_[0]);
auto torque_y = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, fts_interface_names_[4], &torque_values_[1]);
auto torque_z = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, fts_interface_names_[5], &torque_values_[2]);

// create local state interface vector
std::vector<hardware_interface::LoanedStateInterface> temp_state_interfaces;

// insert the interfaces in jumbled sequence
temp_state_interfaces.emplace_back(torque_y);
temp_state_interfaces.emplace_back(force_z);
temp_state_interfaces.emplace_back(force_x);
temp_state_interfaces.emplace_back(torque_z);
temp_state_interfaces.emplace_back(torque_x);
temp_state_interfaces.emplace_back(force_y);
temp_state_interfaces.emplace_back(torque_y, nullptr);
temp_state_interfaces.emplace_back(force_z, nullptr);
temp_state_interfaces.emplace_back(force_x, nullptr);
temp_state_interfaces.emplace_back(torque_z, nullptr);
temp_state_interfaces.emplace_back(torque_x, nullptr);
temp_state_interfaces.emplace_back(force_y, nullptr);

// now call the function to make them in order like interface_names
force_torque_sensor_->assign_loaned_state_interfaces(temp_state_interfaces);
Expand Down
65 changes: 39 additions & 26 deletions controller_interface/test/test_gps_sensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -46,16 +46,21 @@ struct GPSSensorTest : public testing::Test
gps_sensor_name};
std::vector<std::string> full_interface_names;

hardware_interface::StateInterface gps_state{
gps_sensor_name, gps_interface_names.at(0), &gps_states.at(0)};
hardware_interface::StateInterface gps_service{
gps_sensor_name, gps_interface_names.at(1), &gps_states.at(1)};
hardware_interface::StateInterface latitude{
gps_sensor_name, gps_interface_names.at(2), &gps_states.at(2)};
hardware_interface::StateInterface longitude{
gps_sensor_name, gps_interface_names.at(3), &gps_states.at(3)};
hardware_interface::StateInterface altitude{
gps_sensor_name, gps_interface_names.at(4), &gps_states.at(4)};
hardware_interface::StateInterface::SharedPtr gps_state =
std::make_shared<hardware_interface::StateInterface>(
gps_sensor_name, gps_interface_names.at(0), &gps_states.at(0));
hardware_interface::StateInterface::SharedPtr gps_service =
std::make_shared<hardware_interface::StateInterface>(
gps_sensor_name, gps_interface_names.at(1), &gps_states.at(1));
hardware_interface::StateInterface::SharedPtr latitude =
std::make_shared<hardware_interface::StateInterface>(
gps_sensor_name, gps_interface_names.at(2), &gps_states.at(2));
hardware_interface::StateInterface::SharedPtr longitude =
std::make_shared<hardware_interface::StateInterface>(
gps_sensor_name, gps_interface_names.at(3), &gps_states.at(3));
hardware_interface::StateInterface::SharedPtr altitude =
std::make_shared<hardware_interface::StateInterface>(
gps_sensor_name, gps_interface_names.at(4), &gps_states.at(4));
std::vector<hardware_interface::LoanedStateInterface> state_interface;
};

Expand Down Expand Up @@ -144,22 +149,30 @@ struct GPSSensorWithCovarianceTest : public testing::Test
gps_sensor_name};
std::vector<std::string> full_interface_names;

hardware_interface::StateInterface gps_state{
gps_sensor_name, gps_interface_names.at(0), &gps_states.at(0)};
hardware_interface::StateInterface gps_service{
gps_sensor_name, gps_interface_names.at(1), &gps_states.at(1)};
hardware_interface::StateInterface latitude{
gps_sensor_name, gps_interface_names.at(2), &gps_states.at(2)};
hardware_interface::StateInterface longitude{
gps_sensor_name, gps_interface_names.at(3), &gps_states.at(3)};
hardware_interface::StateInterface altitude{
gps_sensor_name, gps_interface_names.at(4), &gps_states.at(4)};
hardware_interface::StateInterface latitude_covariance{
gps_sensor_name, gps_interface_names.at(5), &gps_states.at(5)};
hardware_interface::StateInterface longitude_covariance{
gps_sensor_name, gps_interface_names.at(6), &gps_states.at(6)};
hardware_interface::StateInterface altitude_covariance{
gps_sensor_name, gps_interface_names.at(7), &gps_states.at(7)};
hardware_interface::StateInterface::SharedPtr gps_state =
std::make_shared<hardware_interface::StateInterface>(
gps_sensor_name, gps_interface_names.at(0), &gps_states.at(0));
hardware_interface::StateInterface::SharedPtr gps_service =
std::make_shared<hardware_interface::StateInterface>(
gps_sensor_name, gps_interface_names.at(1), &gps_states.at(1));
hardware_interface::StateInterface::SharedPtr latitude =
std::make_shared<hardware_interface::StateInterface>(
gps_sensor_name, gps_interface_names.at(2), &gps_states.at(2));
hardware_interface::StateInterface::SharedPtr longitude =
std::make_shared<hardware_interface::StateInterface>(
gps_sensor_name, gps_interface_names.at(3), &gps_states.at(3));
hardware_interface::StateInterface::SharedPtr altitude =
std::make_shared<hardware_interface::StateInterface>(
gps_sensor_name, gps_interface_names.at(4), &gps_states.at(4));
hardware_interface::StateInterface::SharedPtr latitude_covariance =
std::make_shared<hardware_interface::StateInterface>(
gps_sensor_name, gps_interface_names.at(5), &gps_states.at(5));
hardware_interface::StateInterface::SharedPtr longitude_covariance =
std::make_shared<hardware_interface::StateInterface>(
gps_sensor_name, gps_interface_names.at(6), &gps_states.at(6));
hardware_interface::StateInterface::SharedPtr altitude_covariance =
std::make_shared<hardware_interface::StateInterface>(
gps_sensor_name, gps_interface_names.at(7), &gps_states.at(7));
std::vector<hardware_interface::LoanedStateInterface> state_interface;
};

Expand Down
40 changes: 20 additions & 20 deletions controller_interface/test/test_imu_sensor.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,30 +47,30 @@ TEST_F(IMUSensorTest, validate_all)
std::vector<std::string> interface_names = imu_sensor_->get_state_interface_names();

// assign values to orientation
hardware_interface::StateInterface orientation_x{
sensor_name_, imu_interface_names_[0], &orientation_values_[0]};
hardware_interface::StateInterface orientation_y{
sensor_name_, imu_interface_names_[1], &orientation_values_[1]};
hardware_interface::StateInterface orientation_z{
sensor_name_, imu_interface_names_[2], &orientation_values_[2]};
hardware_interface::StateInterface orientation_w{
sensor_name_, imu_interface_names_[3], &orientation_values_[4]};
auto orientation_x = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, imu_interface_names_[0], &orientation_values_[0]);
auto orientation_y = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, imu_interface_names_[1], &orientation_values_[1]);
auto orientation_z = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, imu_interface_names_[2], &orientation_values_[2]);
auto orientation_w = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, imu_interface_names_[3], &orientation_values_[4]);

// assign values to angular velocity
hardware_interface::StateInterface angular_velocity_x{
sensor_name_, imu_interface_names_[4], &angular_velocity_values_[0]};
hardware_interface::StateInterface angular_velocity_y{
sensor_name_, imu_interface_names_[5], &angular_velocity_values_[1]};
hardware_interface::StateInterface angular_velocity_z{
sensor_name_, imu_interface_names_[6], &angular_velocity_values_[2]};
auto angular_velocity_x = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, imu_interface_names_[4], &angular_velocity_values_[0]);
auto angular_velocity_y = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, imu_interface_names_[5], &angular_velocity_values_[1]);
auto angular_velocity_z = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, imu_interface_names_[6], &angular_velocity_values_[2]);

// assign values to linear acceleration
hardware_interface::StateInterface linear_acceleration_x{
sensor_name_, imu_interface_names_[7], &linear_acceleration_values_[0]};
hardware_interface::StateInterface linear_acceleration_y{
sensor_name_, imu_interface_names_[8], &linear_acceleration_values_[1]};
hardware_interface::StateInterface linear_acceleration_z{
sensor_name_, imu_interface_names_[9], &linear_acceleration_values_[2]};
auto linear_acceleration_x = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, imu_interface_names_[7], &linear_acceleration_values_[0]);
auto linear_acceleration_y = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, imu_interface_names_[8], &linear_acceleration_values_[1]);
auto linear_acceleration_z = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, imu_interface_names_[9], &linear_acceleration_values_[2]);

// create local state interface vector
std::vector<hardware_interface::LoanedStateInterface> temp_state_interfaces;
Expand Down
15 changes: 9 additions & 6 deletions controller_interface/test/test_led_rgb_device.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -47,16 +47,19 @@ TEST_F(LedDeviceTest, validate_all)
std::vector<std::string> interface_names = led_device_->get_command_interface_names();

// Assign values to position
hardware_interface::CommandInterface led_r{device_name_, interface_names_[0], &led_values_[0]};
hardware_interface::CommandInterface led_g{device_name_, interface_names_[1], &led_values_[1]};
hardware_interface::CommandInterface led_b{device_name_, interface_names_[2], &led_values_[2]};
auto led_r = std::make_shared<hardware_interface::CommandInterface>(
device_name_, interface_names_[0], &led_values_[0]);
auto led_g = std::make_shared<hardware_interface::CommandInterface>(
device_name_, interface_names_[1], &led_values_[1]);
auto led_b = std::make_shared<hardware_interface::CommandInterface>(
device_name_, interface_names_[2], &led_values_[2]);

// Create command interface vector in jumbled order
std::vector<hardware_interface::LoanedCommandInterface> temp_command_interfaces;
temp_command_interfaces.reserve(3);
temp_command_interfaces.emplace_back(led_r);
temp_command_interfaces.emplace_back(led_g);
temp_command_interfaces.emplace_back(led_b);
temp_command_interfaces.emplace_back(led_r, nullptr);
temp_command_interfaces.emplace_back(led_g, nullptr);
temp_command_interfaces.emplace_back(led_b, nullptr);

// Assign interfaces
led_device_->assign_loaned_command_interfaces(temp_command_interfaces);
Expand Down
28 changes: 14 additions & 14 deletions controller_interface/test/test_pose_sensor.cpp
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Expand Up @@ -45,22 +45,22 @@ TEST_F(PoseSensorTest, validate_all)
std::vector<std::string> interface_names = pose_sensor_->get_state_interface_names();

// Assign values to position
hardware_interface::StateInterface position_x{
sensor_name_, interface_names_[0], &position_values_[0]};
hardware_interface::StateInterface position_y{
sensor_name_, interface_names_[1], &position_values_[1]};
hardware_interface::StateInterface position_z{
sensor_name_, interface_names_[2], &position_values_[2]};
auto position_x = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, interface_names_[0], &position_values_[0]);
auto position_y = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, interface_names_[1], &position_values_[1]);
auto position_z = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, interface_names_[2], &position_values_[2]);

// Assign values to orientation
hardware_interface::StateInterface orientation_x{
sensor_name_, interface_names_[3], &orientation_values_[0]};
hardware_interface::StateInterface orientation_y{
sensor_name_, interface_names_[4], &orientation_values_[1]};
hardware_interface::StateInterface orientation_z{
sensor_name_, interface_names_[5], &orientation_values_[2]};
hardware_interface::StateInterface orientation_w{
sensor_name_, interface_names_[6], &orientation_values_[3]};
auto orientation_x = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, interface_names_[3], &orientation_values_[0]);
auto orientation_y = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, interface_names_[4], &orientation_values_[1]);
auto orientation_z = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, interface_names_[5], &orientation_values_[2]);
auto orientation_w = std::make_shared<hardware_interface::StateInterface>(
sensor_name_, interface_names_[6], &orientation_values_[3]);

// Create state interface vector in jumbled order
std::vector<hardware_interface::LoanedStateInterface> temp_state_interfaces;
Expand Down
15 changes: 9 additions & 6 deletions controller_interface/test/test_semantic_component_command_interface.cpp
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Expand Up @@ -38,17 +38,20 @@ TEST_F(SemanticCommandInterfaceTest, validate_command_interfaces)
std::vector<double> interface_values = {
std::numeric_limits<double>::quiet_NaN(), std::numeric_limits<double>::quiet_NaN(),
std::numeric_limits<double>::quiet_NaN()};
hardware_interface::CommandInterface cmd_interface_1{component_name_, "1", &interface_values[0]};
hardware_interface::CommandInterface cmd_interface_2{component_name_, "2", &interface_values[1]};
hardware_interface::CommandInterface cmd_interface_3{component_name_, "3", &interface_values[2]};
auto cmd_interface_1 = std::make_shared<hardware_interface::CommandInterface>(
component_name_, "1", &interface_values[0]);
auto cmd_interface_2 = std::make_shared<hardware_interface::CommandInterface>(
component_name_, "2", &interface_values[1]);
auto cmd_interface_3 = std::make_shared<hardware_interface::CommandInterface>(
component_name_, "3", &interface_values[2]);

// create local command interface vector
std::vector<hardware_interface::LoanedCommandInterface> temp_command_interfaces;
temp_command_interfaces.reserve(3);
// insert the interfaces in jumbled sequence
temp_command_interfaces.emplace_back(cmd_interface_1);
temp_command_interfaces.emplace_back(cmd_interface_3);
temp_command_interfaces.emplace_back(cmd_interface_2);
temp_command_interfaces.emplace_back(cmd_interface_1, nullptr);
temp_command_interfaces.emplace_back(cmd_interface_3, nullptr);
temp_command_interfaces.emplace_back(cmd_interface_2, nullptr);

// now call the function to make them in order like interface_names
EXPECT_TRUE(semantic_component_->assign_loaned_command_interfaces(temp_command_interfaces));
Expand Down
9 changes: 6 additions & 3 deletions controller_interface/test/test_semantic_component_interface.cpp
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Expand Up @@ -95,9 +95,12 @@ TEST_F(SemanticComponentInterfaceTest, validate_state_interfaces)
std::vector<double> interface_values = {1.1, 3.3, 5.5};

// assign 1.1 to interface_1, 3.3 to interface_3 and 5.5 to interface_5
hardware_interface::StateInterface interface_1{component_name_, "1", &interface_values[0]};
hardware_interface::StateInterface interface_3{component_name_, "3", &interface_values[1]};
hardware_interface::StateInterface interface_5{component_name_, "5", &interface_values[2]};
auto interface_1 = std::make_shared<hardware_interface::StateInterface>(
component_name_, "1", &interface_values[0]);
auto interface_3 = std::make_shared<hardware_interface::StateInterface>(
component_name_, "3", &interface_values[1]);
auto interface_5 = std::make_shared<hardware_interface::StateInterface>(
component_name_, "5", &interface_values[2]);

// create local state interface vector
std::vector<hardware_interface::LoanedStateInterface> temp_state_interfaces;
Expand Down
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