Update hardware templates. (StoglRobotics#86)

Robotgir · Dec 6, 2022 · 8dc4ed2 · 8dc4ed2
1 parent f872374
commit 8dc4ed2
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diff --git a/templates/ros2_control/hardware/dummy_package_namespace/robot_hardware_interface.hpp b/templates/ros2_control/hardware/dummy_package_namespace/robot_hardware_interface.hpp
@@ -35,6 +35,10 @@ class DummyClassName : public hardware_interface::Dummy_Interface_TypeInterface
   hardware_interface::CallbackReturn on_init(
     const hardware_interface::HardwareInfo & info) override;
 
+  TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
+  hardware_interface::CallbackReturn on_configure(
+    const rclcpp_lifecycle::State & previous_state) override;
+
   TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
 

diff --git a/templates/ros2_control/hardware/robot_hardware_interface.cpp b/templates/ros2_control/hardware/robot_hardware_interface.cpp
@@ -35,6 +35,14 @@ hardware_interface::CallbackReturn DummyClassName::on_init(
   return CallbackReturn::SUCCESS;
 }
 
+hardware_interface::CallbackReturn DummyClassName::on_configure(
+  const rclcpp_lifecycle::State & /*previous_state*/)
+{
+  // TODO(anyone): prepare the robot to be ready for read calls and write calls of some interfaces
+
+  return CallbackReturn::SUCCESS;
+}
+
 std::vector<hardware_interface::StateInterface> DummyClassName::export_state_interfaces()
 {
   std::vector<hardware_interface::StateInterface> state_interfaces;