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Merged
merged 2 commits into from
Oct 1, 2025
+821 −704
Merged

Remove deprecated methods #1936

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70dce93
Fix usage of deprecated upstream methods
christophfroehlich Sep 29, 2025
4901d5a
Fix vector interfaces generation
christophfroehlich Sep 29, 2025
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46 changes: 23 additions & 23 deletions ackermann_steering_controller/test/test_ackermann_steering_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -146,63 +146,63 @@ class AckermannSteeringControllerFixture : public ::testing::Test
traction_interface_name_ = "velocity";
}

std::vector<hardware_interface::LoanedCommandInterface> command_ifs;
std::vector<hardware_interface::LoanedCommandInterface> loaned_command_ifs;
command_itfs_.reserve(joint_command_values_.size());
command_ifs.reserve(joint_command_values_.size());
loaned_command_ifs.reserve(joint_command_values_.size());

command_itfs_.emplace_back(
hardware_interface::CommandInterface(
std::make_shared<hardware_interface::CommandInterface>(
traction_joints_names_[0], traction_interface_name_,
&joint_command_values_[CMD_TRACTION_RIGHT_WHEEL]));
command_ifs.emplace_back(command_itfs_.back());
loaned_command_ifs.emplace_back(command_itfs_.back(), nullptr);

command_itfs_.emplace_back(
hardware_interface::CommandInterface(
std::make_shared<hardware_interface::CommandInterface>(
traction_joints_names_[1], steering_interface_name_,
&joint_command_values_[CMD_TRACTION_LEFT_WHEEL]));
command_ifs.emplace_back(command_itfs_.back());
loaned_command_ifs.emplace_back(command_itfs_.back(), nullptr);

command_itfs_.emplace_back(
hardware_interface::CommandInterface(
std::make_shared<hardware_interface::CommandInterface>(
steering_joints_names_[0], steering_interface_name_,
&joint_command_values_[CMD_STEER_RIGHT_WHEEL]));
command_ifs.emplace_back(command_itfs_.back());
loaned_command_ifs.emplace_back(command_itfs_.back(), nullptr);

command_itfs_.emplace_back(
hardware_interface::CommandInterface(
std::make_shared<hardware_interface::CommandInterface>(
steering_joints_names_[1], steering_interface_name_,
&joint_command_values_[CMD_STEER_LEFT_WHEEL]));
command_ifs.emplace_back(command_itfs_.back());
loaned_command_ifs.emplace_back(command_itfs_.back(), nullptr);

std::vector<hardware_interface::LoanedStateInterface> state_ifs;
std::vector<hardware_interface::LoanedStateInterface> loaned_state_ifs;
state_itfs_.reserve(joint_state_values_.size());
state_ifs.reserve(joint_state_values_.size());
loaned_state_ifs.reserve(joint_state_values_.size());

state_itfs_.emplace_back(
hardware_interface::StateInterface(
std::make_shared<hardware_interface::StateInterface>(
traction_joints_names_[0], traction_interface_name_,
&joint_state_values_[STATE_TRACTION_RIGHT_WHEEL]));
state_ifs.emplace_back(state_itfs_.back());
loaned_state_ifs.emplace_back(state_itfs_.back(), nullptr);

state_itfs_.emplace_back(
hardware_interface::StateInterface(
std::make_shared<hardware_interface::StateInterface>(
traction_joints_names_[1], traction_interface_name_,
&joint_state_values_[STATE_TRACTION_LEFT_WHEEL]));
state_ifs.emplace_back(state_itfs_.back());
loaned_state_ifs.emplace_back(state_itfs_.back(), nullptr);

state_itfs_.emplace_back(
hardware_interface::StateInterface(
std::make_shared<hardware_interface::StateInterface>(
steering_joints_names_[0], steering_interface_name_,
&joint_state_values_[STATE_STEER_RIGHT_WHEEL]));
state_ifs.emplace_back(state_itfs_.back());
loaned_state_ifs.emplace_back(state_itfs_.back(), nullptr);

state_itfs_.emplace_back(
hardware_interface::StateInterface(
std::make_shared<hardware_interface::StateInterface>(
steering_joints_names_[1], steering_interface_name_,
&joint_state_values_[STATE_STEER_LEFT_WHEEL]));
state_ifs.emplace_back(state_itfs_.back());
loaned_state_ifs.emplace_back(state_itfs_.back(), nullptr);

controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs));
controller_->assign_interfaces(std::move(loaned_command_ifs), std::move(loaned_state_ifs));
}

void subscribe_and_get_messages(ControllerStateMsg & msg)
Expand Down Expand Up @@ -305,8 +305,8 @@ class AckermannSteeringControllerFixture : public ::testing::Test
std::string traction_interface_name_ = "";
std::string preceding_prefix_ = "pid_controller";

std::vector<hardware_interface::StateInterface> state_itfs_;
std::vector<hardware_interface::CommandInterface> command_itfs_;
std::vector<hardware_interface::StateInterface::SharedPtr> state_itfs_;
std::vector<hardware_interface::CommandInterface::SharedPtr> command_itfs_;

// Test related parameters
std::unique_ptr<TestableAckermannSteeringController> controller_;
Expand Down
26 changes: 13 additions & 13 deletions admittance_controller/test/test_admittance_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -171,32 +171,32 @@ class AdmittanceControllerTest : public ::testing::Test

void assign_interfaces()
{
std::vector<hardware_interface::LoanedCommandInterface> command_ifs;
std::vector<hardware_interface::LoanedCommandInterface> loaned_command_ifs;
command_itfs_.reserve(joint_command_values_.size());
command_ifs.reserve(joint_command_values_.size());
loaned_command_ifs.reserve(joint_command_values_.size());

for (auto i = 0u; i < joint_command_values_.size(); ++i)
{
command_itfs_.emplace_back(
hardware_interface::CommandInterface(
std::make_shared<hardware_interface::CommandInterface>(
joint_names_[i], command_interface_types_[0], &joint_command_values_[i]));
command_ifs.emplace_back(command_itfs_.back());
loaned_command_ifs.emplace_back(command_itfs_.back(), nullptr);
}

auto sc_fts = semantic_components::ForceTorqueSensor(ft_sensor_name_);
fts_state_names_ = sc_fts.get_state_interface_names();
std::vector<hardware_interface::LoanedStateInterface> state_ifs;
std::vector<hardware_interface::LoanedStateInterface> loaned_state_ifs;

const size_t num_state_ifs = joint_state_values_.size() + fts_state_names_.size();
state_itfs_.reserve(num_state_ifs);
state_ifs.reserve(num_state_ifs);
loaned_state_ifs.reserve(num_state_ifs);

for (auto i = 0u; i < joint_state_values_.size(); ++i)
{
state_itfs_.emplace_back(
hardware_interface::StateInterface(
std::make_shared<hardware_interface::StateInterface>(
joint_names_[i], state_interface_types_[0], &joint_state_values_[i]));
state_ifs.emplace_back(state_itfs_.back());
loaned_state_ifs.emplace_back(state_itfs_.back(), nullptr);
}

std::vector<std::string> fts_itf_names = {"force.x", "force.y", "force.z",
Expand All @@ -205,12 +205,12 @@ class AdmittanceControllerTest : public ::testing::Test
for (auto i = 0u; i < fts_state_names_.size(); ++i)
{
state_itfs_.emplace_back(
hardware_interface::StateInterface(
std::make_shared<hardware_interface::StateInterface>(
ft_sensor_name_, fts_itf_names[i], &fts_state_values_[i]));
state_ifs.emplace_back(state_itfs_.back());
loaned_state_ifs.emplace_back(state_itfs_.back(), nullptr);
}

controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs));
controller_->assign_interfaces(std::move(loaned_command_ifs), std::move(loaned_state_ifs));
}

void broadcast_tfs()
Expand Down Expand Up @@ -386,8 +386,8 @@ class AdmittanceControllerTest : public ::testing::Test
std::array<double, 6> fts_state_values_ = {{0.0, 0.0, 0.0, 0.0, 0.0, 0.0}};
std::vector<std::string> fts_state_names_;

std::vector<hardware_interface::StateInterface> state_itfs_;
std::vector<hardware_interface::CommandInterface> command_itfs_;
std::vector<hardware_interface::StateInterface::SharedPtr> state_itfs_;
std::vector<hardware_interface::CommandInterface::SharedPtr> command_itfs_;

// Test related parameters
std::unique_ptr<TestableAdmittanceController> controller_;
Expand Down
30 changes: 15 additions & 15 deletions bicycle_steering_controller/test/test_bicycle_steering_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -144,39 +144,39 @@ class BicycleSteeringControllerFixture : public ::testing::Test
traction_interface_name_ = "velocity";
}

std::vector<hardware_interface::LoanedCommandInterface> command_ifs;
std::vector<hardware_interface::LoanedCommandInterface> loaned_command_ifs;
command_itfs_.reserve(joint_command_values_.size());
command_ifs.reserve(joint_command_values_.size());
loaned_command_ifs.reserve(joint_command_values_.size());

command_itfs_.emplace_back(
hardware_interface::CommandInterface(
std::make_shared<hardware_interface::CommandInterface>(
traction_joints_names_[0], traction_interface_name_,
&joint_command_values_[CMD_TRACTION_WHEEL]));
command_ifs.emplace_back(command_itfs_.back());
loaned_command_ifs.emplace_back(command_itfs_.back(), nullptr);

command_itfs_.emplace_back(
hardware_interface::CommandInterface(
std::make_shared<hardware_interface::CommandInterface>(
steering_joints_names_[0], steering_interface_name_,
&joint_command_values_[CMD_STEER_WHEEL]));
command_ifs.emplace_back(command_itfs_.back());
loaned_command_ifs.emplace_back(command_itfs_.back(), nullptr);

std::vector<hardware_interface::LoanedStateInterface> state_ifs;
std::vector<hardware_interface::LoanedStateInterface> loaned_state_ifs;
state_itfs_.reserve(joint_state_values_.size());
state_ifs.reserve(joint_state_values_.size());
loaned_state_ifs.reserve(joint_state_values_.size());

state_itfs_.emplace_back(
hardware_interface::StateInterface(
std::make_shared<hardware_interface::StateInterface>(
traction_joints_names_[0], traction_interface_name_,
&joint_state_values_[STATE_TRACTION_WHEEL]));
state_ifs.emplace_back(state_itfs_.back());
loaned_state_ifs.emplace_back(state_itfs_.back(), nullptr);

state_itfs_.emplace_back(
hardware_interface::StateInterface(
std::make_shared<hardware_interface::StateInterface>(
steering_joints_names_[0], steering_interface_name_,
&joint_state_values_[STATE_STEER_AXIS]));
state_ifs.emplace_back(state_itfs_.back());
loaned_state_ifs.emplace_back(state_itfs_.back(), nullptr);

controller_->assign_interfaces(std::move(command_ifs), std::move(state_ifs));
controller_->assign_interfaces(std::move(loaned_command_ifs), std::move(loaned_state_ifs));
}

void subscribe_and_get_messages(ControllerStateMsg & msg)
Expand Down Expand Up @@ -275,8 +275,8 @@ class BicycleSteeringControllerFixture : public ::testing::Test
std::string traction_interface_name_ = "";
std::string preceding_prefix_ = "pid_controller";

std::vector<hardware_interface::StateInterface> state_itfs_;
std::vector<hardware_interface::CommandInterface> command_itfs_;
std::vector<hardware_interface::StateInterface::SharedPtr> state_itfs_;
std::vector<hardware_interface::CommandInterface::SharedPtr> command_itfs_;

// Test related parameters
std::unique_ptr<TestableBicycleSteeringController> controller_;
Expand Down
6 changes: 3 additions & 3 deletions chained_filter_controller/test/test_chained_filter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -123,18 +123,18 @@ TEST_F(ChainedFilterTest, UpdateFilter)
controller_->update_and_write_commands(rclcpp::Time(), rclcpp::Duration::from_seconds(0.1)),
controller_interface::return_type::OK);
// input state interface should not change
EXPECT_EQ(joint_1_pos_.get_optional().value(), joint_states_[0]);
EXPECT_EQ(joint_1_pos_->get_optional().value(), joint_states_[0]);
// output should be the same
auto state_if_exported_conf = controller_->export_state_interfaces();
ASSERT_THAT(state_if_exported_conf, SizeIs(1u));
EXPECT_EQ(state_if_exported_conf[0]->get_optional().value(), joint_states_[0]);

ASSERT_TRUE(joint_1_pos_.set_value(2.0));
ASSERT_TRUE(joint_1_pos_->set_value(2.0));
ASSERT_EQ(
controller_->update_and_write_commands(rclcpp::Time(), rclcpp::Duration::from_seconds(0.1)),
controller_interface::return_type::OK);
// input and output should have changed
EXPECT_EQ(joint_1_pos_.get_optional().value(), joint_states_[0]);
EXPECT_EQ(joint_1_pos_->get_optional().value(), joint_states_[0]);
EXPECT_EQ(state_if_exported_conf[0]->get_optional().value(), 1.55);
ASSERT_EQ(
controller_->update_and_write_commands(rclcpp::Time(), rclcpp::Duration::from_seconds(0.1)),
Expand Down
3 changes: 2 additions & 1 deletion chained_filter_controller/test/test_chained_filter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,7 +49,8 @@ class ChainedFilterTest : public ::testing::Test
const std::vector<std::string> joint_names_ = {"wheel_left"};
std::vector<double> joint_states_ = {1.1};

StateInterface joint_1_pos_{joint_names_[0], HW_IF_POSITION, &joint_states_[0]};
StateInterface::SharedPtr joint_1_pos_ =
std::make_shared<StateInterface>(joint_names_[0], HW_IF_POSITION, &joint_states_[0]);
rclcpp::executors::SingleThreadedExecutor executor;
};

Expand Down
28 changes: 14 additions & 14 deletions chained_filter_controller/test/test_multiple_chained_filter.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,8 +52,8 @@ void MultipleChainedFilterTest::SetUpController(
ASSERT_EQ(result, controller_interface::return_type::OK);

std::vector<LoanedStateInterface> state_ifs;
state_ifs.emplace_back(joint_1_pos_);
state_ifs.emplace_back(joint_2_pos_);
state_ifs.emplace_back(joint_1_pos_, nullptr);
state_ifs.emplace_back(joint_2_pos_, nullptr);
controller_->assign_interfaces({}, std::move(state_ifs));
executor.add_node(controller_->get_node()->get_node_base_interface());
}
Expand Down Expand Up @@ -118,23 +118,23 @@ TEST_F(MultipleChainedFilterTest, UpdateFilter_multiple_interfaces)
controller_->update_and_write_commands(rclcpp::Time(), rclcpp::Duration::from_seconds(0.1)),
controller_interface::return_type::OK);
// input state interface should not change
EXPECT_EQ(joint_1_pos_.get_optional().value(), joint_states_[0]);
EXPECT_EQ(joint_2_pos_.get_optional().value(), joint_states_[1]);
EXPECT_EQ(joint_1_pos_->get_optional().value(), joint_states_[0]);
EXPECT_EQ(joint_2_pos_->get_optional().value(), joint_states_[1]);
// output should be the same
auto state_if_exported_conf = controller_->export_state_interfaces();
ASSERT_THAT(state_if_exported_conf, SizeIs(2u));
EXPECT_EQ(state_if_exported_conf[0]->get_optional().value(), joint_states_[0]);
EXPECT_EQ(state_if_exported_conf[1]->get_optional().value(), joint_states_[1]);

ASSERT_TRUE(joint_1_pos_.set_value(2.0));
ASSERT_TRUE(joint_2_pos_.set_value(3.0));
ASSERT_TRUE(joint_1_pos_->set_value(2.0));
ASSERT_TRUE(joint_2_pos_->set_value(3.0));
ASSERT_EQ(
controller_->update_and_write_commands(rclcpp::Time(), rclcpp::Duration::from_seconds(0.1)),
controller_interface::return_type::OK);
// input and output should have changed
EXPECT_EQ(joint_1_pos_.get_optional().value(), joint_states_[0]);
EXPECT_EQ(joint_1_pos_->get_optional().value(), joint_states_[0]);
EXPECT_EQ(state_if_exported_conf[0]->get_optional().value(), 1.55);
EXPECT_EQ(joint_2_pos_.get_optional().value(), joint_states_[1]);
EXPECT_EQ(joint_2_pos_->get_optional().value(), joint_states_[1]);
EXPECT_EQ(state_if_exported_conf[1]->get_optional().value(), 2.6);

ASSERT_EQ(
Expand All @@ -155,23 +155,23 @@ TEST_F(MultipleChainedFilterTest, UpdateFilter_multiple_interfaces_config_per_in
controller_->update_and_write_commands(rclcpp::Time(), rclcpp::Duration::from_seconds(0.1)),
controller_interface::return_type::OK);
// input state interface should not change
EXPECT_EQ(joint_1_pos_.get_optional().value(), joint_states_[0]);
EXPECT_EQ(joint_2_pos_.get_optional().value(), joint_states_[1]);
EXPECT_EQ(joint_1_pos_->get_optional().value(), joint_states_[0]);
EXPECT_EQ(joint_2_pos_->get_optional().value(), joint_states_[1]);
// output should be the same
auto state_if_exported_conf = controller_->export_state_interfaces();
ASSERT_THAT(state_if_exported_conf, SizeIs(2u));
EXPECT_EQ(state_if_exported_conf[0]->get_optional().value(), joint_states_[0]);
EXPECT_EQ(state_if_exported_conf[1]->get_optional().value(), joint_states_[1]);

ASSERT_TRUE(joint_1_pos_.set_value(2.0));
ASSERT_TRUE(joint_2_pos_.set_value(2.8));
ASSERT_TRUE(joint_1_pos_->set_value(2.0));
ASSERT_TRUE(joint_2_pos_->set_value(2.8));
ASSERT_EQ(
controller_->update_and_write_commands(rclcpp::Time(), rclcpp::Duration::from_seconds(0.1)),
controller_interface::return_type::OK);
// input and output should have changed
EXPECT_EQ(joint_1_pos_.get_optional().value(), joint_states_[0]);
EXPECT_EQ(joint_1_pos_->get_optional().value(), joint_states_[0]);
EXPECT_EQ(state_if_exported_conf[0]->get_optional().value(), 1.55);
EXPECT_EQ(joint_2_pos_.get_optional().value(), joint_states_[1]);
EXPECT_EQ(joint_2_pos_->get_optional().value(), joint_states_[1]);
// second update call, mean of (2.2, 2.8)
EXPECT_EQ(state_if_exported_conf[1]->get_optional().value(), 2.5);

Expand Down
6 changes: 4 additions & 2 deletions chained_filter_controller/test/test_multiple_chained_filter.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,8 +49,10 @@ class MultipleChainedFilterTest : public ::testing::Test
const std::vector<std::string> joint_names_ = {"wheel_left", "wheel_right"};
std::vector<double> joint_states_ = {1.1, 2.2};

StateInterface joint_1_pos_{joint_names_[0], HW_IF_POSITION, &joint_states_[0]};
StateInterface joint_2_pos_{joint_names_[1], HW_IF_POSITION, &joint_states_[1]};
StateInterface::SharedPtr joint_1_pos_ =
std::make_shared<StateInterface>(joint_names_[0], HW_IF_POSITION, &joint_states_[0]);
StateInterface::SharedPtr joint_2_pos_ =
std::make_shared<StateInterface>(joint_names_[1], HW_IF_POSITION, &joint_states_[1]);
rclcpp::executors::SingleThreadedExecutor executor;
};

Expand Down
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