Fix all deprecation warnings (#108)

Author: sea-bass

robotiq_controllers/CMakeLists.txt

@@ -25,8 +25,9 @@ target_include_directories(${PROJECT_NAME} PRIVATE
   include
 )
 
-ament_target_dependencies(${PROJECT_NAME}
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+target_link_libraries(${PROJECT_NAME}
+  controller_interface::controller_interface
+  ${std_srvs_TARGETS}
 )
 
 pluginlib_export_plugin_description_file(controller_interface controller_plugins.xml)

robotiq_controllers/src/robotiq_activation_controller.cpp

@@ -105,14 +105,21 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn Roboti
 bool RobotiqActivationController::reactivateGripper(std_srvs::srv::Trigger::Request::SharedPtr /*req*/,
                                                     std_srvs::srv::Trigger::Response::SharedPtr resp)
 {
-  command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].set_value(ASYNC_WAITING);
-  command_interfaces_[REACTIVATE_GRIPPER_CMD].set_value(1.0);
+  resp->success = command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].set_value(ASYNC_WAITING);
+  resp->success &= command_interfaces_[REACTIVATE_GRIPPER_CMD].set_value(1.0);
 
-  while (command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_value() == ASYNC_WAITING)
+  while (true)
   {
+    const auto maybe_value = command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_optional();
+    if (maybe_value && maybe_value.value() != ASYNC_WAITING)
+    {
+      break;
+    }
     std::this_thread::sleep_for(std::chrono::milliseconds(50));
   }
-  resp->success = command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_value();
+  // NOTE: This was previously using get_value() and implicitly casting to bool, so keeping the old behavior.
+  // However, note that the value of this result is actually a double, so this should be revised in the future.
+  resp->success &= static_cast<bool>(command_interfaces_[REACTIVATE_GRIPPER_RESPONSE].get_optional().value_or(false));
 
   return resp->success;
 }

robotiq_driver/CMakeLists.txt

@@ -61,9 +61,13 @@ target_include_directories(
   $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
   $<INSTALL_INTERFACE:include>
 )
-ament_target_dependencies(
+target_link_libraries(
   robotiq_driver
-  ${THIS_PACKAGE_INCLUDE_DEPENDS}
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+  serial::serial
 )
 
 ###############################################################################

robotiq_driver/include/robotiq_driver/hardware_interface.hpp

@@ -72,12 +72,12 @@ class RobotiqGripperHardwareInterface : public hardware_interface::SystemInterfa
   /**
    * Initialization of the hardware interface from data parsed from the
    * robot's URDF.
-   * @param hardware_info Structure with data from URDF.
+   * @param params Structure with parameters for initializing this hardware component.
    * @returns CallbackReturn::SUCCESS if required data are provided and can be
    * parsed or CallbackReturn::ERROR if any error happens or data are missing.
    */
   ROBOTIQ_DRIVER_PUBLIC
-  CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override;
+  CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams& params) override;
 
   /**
    * Connect to the hardware.

robotiq_driver/src/hardware_interface.cpp

@@ -72,30 +72,31 @@ RobotiqGripperHardwareInterface::RobotiqGripperHardwareInterface(std::unique_ptr
 {
 }
 
-hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_init(const hardware_interface::HardwareInfo& info)
+hardware_interface::CallbackReturn
+RobotiqGripperHardwareInterface::on_init(const hardware_interface::HardwareComponentInterfaceParams& params)
 {
   RCLCPP_DEBUG(kLogger, "on_init");
 
-  if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
+  if (hardware_interface::SystemInterface::on_init(params) != CallbackReturn::SUCCESS)
   {
     return CallbackReturn::ERROR;
   }
 
   // Read parameters.
-  gripper_closed_pos_ = stod(info_.hardware_parameters["gripper_closed_position"]);
+  gripper_closed_pos_ = stod(info_.hardware_parameters.at("gripper_closed_position"));
   gripper_max_speed_ = info_.hardware_parameters.count("gripper_max_speed") ?
-                           stod(info_.hardware_parameters["gripper_max_speed"]) :
+                           stod(info_.hardware_parameters.at("gripper_max_speed")) :
                            kGripperMaxSpeed;
   gripper_max_force_ = info_.hardware_parameters.count("gripper_max_force") ?
-                           stod(info_.hardware_parameters["gripper_max_force"]) :
+                           stod(info_.hardware_parameters.at("gripper_max_force")) :
                            kGripperMaxforce;
   gripper_position_ = std::numeric_limits<double>::quiet_NaN();
   gripper_velocity_ = std::numeric_limits<double>::quiet_NaN();
   gripper_position_command_ = std::numeric_limits<double>::quiet_NaN();
   reactivate_gripper_cmd_ = NO_NEW_CMD_;
   reactivate_gripper_async_cmd_.store(false);
 
-  const hardware_interface::ComponentInfo& joint = info_.joints[0];
+  const hardware_interface::ComponentInfo& joint = info_.joints.at(0);
 
   // There is one command interface: position.
   if (joint.command_interfaces.size() != 1)
@@ -105,10 +106,10 @@ hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_init(cons
     return CallbackReturn::ERROR;
   }
 
-  if (joint.command_interfaces[0].name != hardware_interface::HW_IF_POSITION)
+  if (joint.command_interfaces.at(0).name != hardware_interface::HW_IF_POSITION)
   {
     RCLCPP_FATAL(kLogger, "Joint '%s' has %s command interfaces found. '%s' expected.", joint.name.c_str(),
-                 joint.command_interfaces[0].name.c_str(), hardware_interface::HW_IF_POSITION);
+                 joint.command_interfaces.at(0).name.c_str(), hardware_interface::HW_IF_POSITION);
     return CallbackReturn::ERROR;
   }
 
@@ -126,7 +127,7 @@ hardware_interface::CallbackReturn RobotiqGripperHardwareInterface::on_init(cons
           joint.state_interfaces[i].name == hardware_interface::HW_IF_VELOCITY))
     {
       RCLCPP_FATAL(kLogger, "Joint '%s' has %s state interface. Expected %s or %s.", joint.name.c_str(),
-                   joint.state_interfaces[i].name.c_str(), hardware_interface::HW_IF_POSITION,
+                   joint.state_interfaces.at(i).name.c_str(), hardware_interface::HW_IF_POSITION,
                    hardware_interface::HW_IF_VELOCITY);
       return CallbackReturn::ERROR;
     }

robotiq_driver/tests/CMakeLists.txt

@@ -19,8 +19,11 @@ ament_add_gmock(test_robotiq_gripper_hardware_interface
 target_include_directories(test_robotiq_gripper_hardware_interface
     PRIVATE ${CMAKE_CURRENT_SOURCE_DIR}
 )
-target_link_libraries(test_robotiq_gripper_hardware_interface robotiq_driver)
-ament_target_dependencies(test_robotiq_gripper_hardware_interface)
+target_link_libraries(
+    test_robotiq_gripper_hardware_interface
+    robotiq_driver
+    hardware_interface::hardware_interface
+)
 
 ###############################################################################
 # test_default_serial_factory

robotiq_hardware_tests/CMakeLists.txt

@@ -31,6 +31,6 @@ add_executable(full_test
     src/command_line_utility.hpp
     src/command_line_utility.cpp
 )
-ament_target_dependencies(full_test robotiq_driver)
+target_link_libraries(full_test robotiq_driver::robotiq_driver)
 
 ament_package()