From fb966eba732e3ecac6ab587f03b65683c47c5c25 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Thu, 2 Oct 2025 10:22:53 +0000 Subject: [PATCH 1/2] Fix deprecated hardware_interface API --- kortex_driver/include/kortex_driver/hardware_interface.hpp | 2 +- kortex_driver/src/hardware_interface.cpp | 5 +++-- 2 files changed, 4 insertions(+), 3 deletions(-) diff --git a/kortex_driver/include/kortex_driver/hardware_interface.hpp b/kortex_driver/include/kortex_driver/hardware_interface.hpp index 6bc45a69..33f37fda 100644 --- a/kortex_driver/include/kortex_driver/hardware_interface.hpp +++ b/kortex_driver/include/kortex_driver/hardware_interface.hpp @@ -84,7 +84,7 @@ class KortexMultiInterfaceHardware : public hardware_interface::SystemInterface RCLCPP_SHARED_PTR_DEFINITIONS(KortexMultiInterfaceHardware); KORTEX_DRIVER_PUBLIC - CallbackReturn on_init(const hardware_interface::HardwareInfo & info) final; + CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params) final; KORTEX_DRIVER_PUBLIC std::vector export_state_interfaces() final; diff --git a/kortex_driver/src/hardware_interface.cpp b/kortex_driver/src/hardware_interface.cpp index f0e856b1..458b0b57 100644 --- a/kortex_driver/src/hardware_interface.cpp +++ b/kortex_driver/src/hardware_interface.cpp @@ -84,10 +84,11 @@ KortexMultiInterfaceHardware::KortexMultiInterfaceHardware() } } -CallbackReturn KortexMultiInterfaceHardware::on_init(const hardware_interface::HardwareInfo & info) +CallbackReturn KortexMultiInterfaceHardware::on_init( + const hardware_interface::HardwareComponentInterfaceParams & params) { RCLCPP_INFO(LOGGER, "Configuring Hardware Interface"); - if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS) + if (hardware_interface::SystemInterface::on_init(params) != CallbackReturn::SUCCESS) { return CallbackReturn::ERROR; } From d36c932c264b770e2f3abea46152e955837c2ea4 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Christoph=20Fr=C3=B6hlich?= Date: Wed, 3 Dec 2025 09:06:31 +0100 Subject: [PATCH 2/2] Update hardware_interface.cpp --- kortex_driver/src/hardware_interface.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/kortex_driver/src/hardware_interface.cpp b/kortex_driver/src/hardware_interface.cpp index 458b0b57..4bbff4e5 100644 --- a/kortex_driver/src/hardware_interface.cpp +++ b/kortex_driver/src/hardware_interface.cpp @@ -93,7 +93,7 @@ CallbackReturn KortexMultiInterfaceHardware::on_init( return CallbackReturn::ERROR; } - info_ = info; + info_ = params.hardware_info; // The robot's IP address. std::string robot_ip = info_.hardware_parameters["robot_ip"]; if (robot_ip.empty())