Update templates to generate hardware interfaces on galactic+ (StoglR…

…obotics#23)

docs/use-cases/ros2_control/setup_robot_hardware_interface.rst

@@ -10,11 +10,11 @@ The file name should use standard ROS format <my_cool_robot_hardware>.
 A ``.cpp`` and ``.hpp`` files will added using this name.
 If the class name is not set, it is guessed by camel-casing the file name.
 If the package name is not set, it is guessed from the current path using the folder's name.
-The script **has to be executed** from the folder where the package should be generated.
+The script **has to be executed** from the package folder where the package should be generated.
 
-**Note**: it is recomended to setup your package using :ref:`setup-new-package <uc-new-package>` scritpt.
+**Note**: it is recommended to setup your package using :ref:`setup-new-package <uc-new-package>` script.
 
-The scripts copies template files from the ``templates/ros2_control/hardware`` folder, rename the files, and replaces the placeholders.
+The scripts copies template files from the ``templates/ros2_control/hardware`` folder, renames the files, and replaces the placeholders.
 The scripts adds also a plugin description and simple test checking if the plugin can be loaded.
 
 .. code-block:: bash

scripts/ros2_control/setup-hardware-interface-package.bash

@@ -158,6 +158,30 @@ for SED_FILE in "${FILES_TO_SED[@]}"; do
   sed -i "s/\\\$Interface_Type\\\$/${INTERFACE_TYPE^}/g" $SED_FILE
 done
 
+# If type is "sensor" remove write and command_interfaces methods
+if [[ "$INTERFACE_TYPE" == "sensor" ]]; then
+  METHODS_TO_DELETE=("write()" "export_command_interfaces()")
+  # Clean HPP
+  for DEL_METHOD in "${METHODS_TO_DELETE[@]}"; do
+    line_nr=`grep -n "${DEL_METHOD}" $HW_ITF_HPP | awk -F ":" '{print $1;}'`
+    let start_line=${line_nr}-1
+    let end_line=${line_nr}+1
+    sed -i "${start_line},${end_line}d" $HW_ITF_HPP
+  done
+  # Clean CPP
+  line_nr=`grep -n "write()" $HW_ITF_CPP | awk -F ":" '{print $1;}'`
+  let start_line=${line_nr}-1
+  let end_line=${line_nr}+5
+  sed -i "${start_line},${end_line}d" $HW_ITF_CPP
+
+  line_nr=`grep -n "export_command_interfaces()" $HW_ITF_CPP | awk -F ":" '{print $1;}'`
+  let start_line=${line_nr}-1
+  let end_line=${line_nr}+10
+  sed -i "${start_line},${end_line}d" $HW_ITF_CPP
+
+  # Remove command interfaces from test URDF
+  sed -i '/command_interface/d' $TEST_CPP
+fi
 
 # CMakeLists.txt: Remove comments if there any and add library
 DEL_STRINGS=("# uncomment the following" "# further" "# find_package(<dependency>")
@@ -191,6 +215,7 @@ echo "ament_target_dependencies(" >> $TMP_FILE
 echo "  $PKG_NAME" >> $TMP_FILE
 echo "  hardware_interface" >> $TMP_FILE
 echo "  rclcpp" >> $TMP_FILE
+echo "  rclcpp_lifecycle" >> $TMP_FILE
 echo ")" >> $TMP_FILE
 
 # TODO(anyone): Delete after Foxy!!!
@@ -252,6 +277,7 @@ echo "ament_export_dependencies(" >> $TMP_FILE
 echo "  hardware_interface" >> $TMP_FILE
 echo "  pluginlib" >> $TMP_FILE
 echo "  rclcpp" >> $TMP_FILE
+echo "  rclcpp_lifecycle" >> $TMP_FILE
 echo ")" >> $TMP_FILE
 
 # Add last part
@@ -261,7 +287,7 @@ tail -n +$TEST_LINE CMakeLists.txt | tail -n +$CUT_LINE >> $TMP_FILE
 mv $TMP_FILE CMakeLists.txt
 
 # CMakeLists.txt & package.xml: Add dependencies if they not exist
-DEP_PKGS=("rclcpp" "pluginlib" "hardware_interface")
+DEP_PKGS=("rclcpp_lifecycle" "rclcpp" "pluginlib" "hardware_interface")
 
 for DEP_PKG in "${DEP_PKGS[@]}"; do
 

templates/ros2_control/hardware/robot_hardware_interface.cpp

@@ -9,27 +9,26 @@
 
 namespace $package_name$
 {
-hardware_interface::return_type $ClassName$::configure(const hardware_interface::HardwareInfo & info)
+CallbackReturn $ClassName$::on_init(const hardware_interface::HardwareInfo & info)
 {
-  if (configure_default(info) != hardware_interface::return_type::OK) {
-    return hardware_interface::return_type::ERROR;
+  if (hardware_interface::$Interface_Type$Interface::on_init(info) != CallbackReturn::SUCCESS) {
+    return CallbackReturn::ERROR;
   }
 
   // TODO(anyone): read parameters and initialize the hardware
   hw_states_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
   hw_commands_.resize(info_.joints.size(), std::numeric_limits<double>::quiet_NaN());
 
-  status_ = hardware_interface::status::CONFIGURED;
-  return hardware_interface::return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
 std::vector<hardware_interface::StateInterface> $ClassName$::export_state_interfaces()
 {
   std::vector<hardware_interface::StateInterface> state_interfaces;
   for (uint i = 0; i < info_.joints.size(); i++) {
     state_interfaces.emplace_back(hardware_interface::StateInterface(
-        // TODO(anyone): insert correct interfaces
-        info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_states_[i]));
+      // TODO(anyone): insert correct interfaces
+      info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_states_[i]));
   }
 
   return state_interfaces;
@@ -40,29 +39,25 @@ std::vector<hardware_interface::CommandInterface> $ClassName$::export_command_in
   std::vector<hardware_interface::CommandInterface> command_interfaces;
   for (uint i = 0; i < info_.joints.size(); i++) {
     command_interfaces.emplace_back(hardware_interface::CommandInterface(
-        // TODO(anyone): insert correct interfaces
-        info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_commands_[i]));
+      // TODO(anyone): insert correct interfaces
+      info_.joints[i].name, hardware_interface::HW_IF_POSITION, &hw_commands_[i]));
   }
 
   return command_interfaces;
 }
 
-hardware_interface::return_type $ClassName$::start()
+CallbackReturn $ClassName$::on_activate(const rclcpp_lifecycle::State & /*previous_state*/)
 {
   // TODO(anyone): prepare the robot to receive commands
 
-  status_ = hardware_interface::status::STARTED;
-
-  return hardware_interface::return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
-hardware_interface::return_type $ClassName$::stop()
+CallbackReturn $ClassName$::on_deactivate(const rclcpp_lifecycle::State & /*previous_state*/)
 {
   // TODO(anyone): prepare the robot to stop receiving commands
 
-  status_ = hardware_interface::status::STOPPED;
-
-  return hardware_interface::return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
 hardware_interface::return_type $ClassName$::read()

templates/ros2_control/hardware/robot_hardware_interface.hpp

@@ -8,23 +8,21 @@
 
 #include "$package_name$/visibility_control.h"
 #include "hardware_interface/$interface_type$_interface.hpp"
-#include "hardware_interface/base_interface.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
-#include "hardware_interface/types/hardware_interface_status_values.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp_lifecycle/state.hpp"
 
 namespace $package_name$
 {
-class $ClassName$
-  : public hardware_interface::BaseInterface<hardware_interface::$Interface_Type$Interface>
+class $ClassName$ : public hardware_interface::$Interface_Type$Interface
 {
 public:
   RCLCPP_SHARED_PTR_DEFINITIONS($ClassName$);
 
   $PACKAGE_NAME$_PUBLIC
-  hardware_interface::return_type configure(const hardware_interface::HardwareInfo & info) override;
+  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
 
   $PACKAGE_NAME$_PUBLIC
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
@@ -33,10 +31,10 @@ class $ClassName$
   std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
   $PACKAGE_NAME$_PUBLIC
-  hardware_interface::return_type start() override;
+  CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
 
   $PACKAGE_NAME$_PUBLIC
-  hardware_interface::return_type stop() override;
+  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
   $PACKAGE_NAME$_PUBLIC
   hardware_interface::return_type read() override;