Fix deprecated hardware_interface API

[christophfroehlich]

See ros-controls/ros2_control#2323
needed for ros-controls/ros2_control#2589

Please release it to kilted and rolling, thanks :)
Note: This API is not available on humble.

[gemini-code-assist]

Summary of Changes

Hello @christophfroehlich, I'm Gemini Code Assist¹! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!

This pull request updates the turtlebot3_manipulation_hardware package to align with the latest ros2_control API. Specifically, it migrates the on_init method from using the deprecated HardwareInfo struct to the current HardwareComponentInterfaceParams. This ensures the hardware interface remains functional and compatible with recent ROS 2 distributions, facilitating further development and integration within the ros2_control ecosystem.

Highlights

• API Update: The on_init method signature in turtlebot3_manipulation_system.hpp has been updated to use hardware_interface::HardwareComponentInterfaceParams instead of the deprecated hardware_interface::HardwareInfo.
• Implementation Alignment: The corresponding implementation of the on_init method in turtlebot3_manipulation_system.cpp has been modified to accept and utilize the new HardwareComponentInterfaceParams.
• ROS 2 Control Compatibility: This change addresses a deprecated API in ros2_control, ensuring compatibility with newer distributions like kilted and rolling, and is a prerequisite for another related pull request.

Using Gemini Code Assist

The full guide for Gemini Code Assist can be found on our documentation page, here are some quick tips.

Invoking Gemini

You can request assistance from Gemini at any point by creating a comment using either /gemini <command> or @gemini-code-assist <command>. Below is a summary of the supported commands on the current page.

Feature	Command	Description
Code Review	/gemini review	Performs a code review for the current pull request in its current state.
Pull Request Summary	/gemini summary	Provides a summary of the current pull request in its current state.
Comment	@gemini-code-assist	Responds in comments when explicitly tagged, both in pull request comments and review comments.
Help	/gemini help	Displays a list of available commands.

Customization

To customize Gemini Code Assist for GitHub experience, repository maintainers can create a configuration file and/or provide a custom code review style guide (such as PEP-8 for Python) by creating and adding files to a .gemini/ folder in the base of the repository. Detailed instructions can be found here.

Limitations & Feedback

Gemini Code Assist may make mistakes. Please leave feedback on any instances where its feedback is incorrect or counter productive. You can react with 👍 and 👎 on @gemini-code-assist comments. If you're interested in giving your feedback about your experience with Gemini Code Assist for Github and other Google products, sign up here.

You can also get AI-powered code generation, chat, as well as code reviews directly in the IDE at no cost with the Gemini Code Assist IDE Extension.

Footnotes

1. Review the Privacy Notices, Generative AI Prohibited Use Policy, Terms of Service, and learn how to configure Gemini Code Assist in GitHub here. Gemini can make mistakes, so double check it and use code with caution. ↩

[gemini-code-assist]

Code Review

This pull request correctly updates the hardware interface to use the new HardwareComponentInterfaceParams in the on_init method, addressing the deprecated API from ros2_control. The changes in both the header and the implementation file are consistent and correctly applied. The updated call to the base class on_init method is also correct. Overall, this is a clean and necessary update to maintain compatibility.