Rename class type to plugin name #api-breaking #abi-breaking (ros-con…

…trols#780)

controller_manager/src/controller_manager.cpp

@@ -1590,7 +1590,14 @@ void ControllerManager::list_hardware_components_srv_cb(
     auto component = controller_manager_msgs::msg::HardwareComponentState();
     component.name = component_name;
     component.type = component_info.type;
-    component.class_type = component_info.class_type;
+    component.class_type =
+      component_info.plugin_name;  // TODO(bence): deprecated currently. Remove soon
+    RCLCPP_WARN(
+      get_logger(),
+      "The 'class_type' field in 'controller_manager_msgs/msg/HardwareComponentState.msg' is "
+      "deprecated and will be removed soon. Please switch over client code to use 'plugin_name' "
+      "instead.");
+    component.plugin_name = component_info.plugin_name;
     component.state.id = component_info.state.id();
     component.state.label = component_info.state.label();
 

controller_manager/test/test_hardware_management_srvs.cpp

@@ -36,19 +36,19 @@ using hardware_interface::lifecycle_state_names::FINALIZED;
 using hardware_interface::lifecycle_state_names::INACTIVE;
 using hardware_interface::lifecycle_state_names::UNCONFIGURED;
 
-using ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_CLASS_TYPE;
 using ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES;
 using ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_NAME;
+using ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_PLUGIN_NAME;
 using ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_STATE_INTERFACES;
 using ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_TYPE;
-using ros2_control_test_assets::TEST_SENSOR_HARDWARE_CLASS_TYPE;
 using ros2_control_test_assets::TEST_SENSOR_HARDWARE_COMMAND_INTERFACES;
 using ros2_control_test_assets::TEST_SENSOR_HARDWARE_NAME;
+using ros2_control_test_assets::TEST_SENSOR_HARDWARE_PLUGIN_NAME;
 using ros2_control_test_assets::TEST_SENSOR_HARDWARE_STATE_INTERFACES;
 using ros2_control_test_assets::TEST_SENSOR_HARDWARE_TYPE;
-using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_CLASS_TYPE;
 using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES;
 using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_NAME;
+using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_PLUGIN_NAME;
 using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_STATE_INTERFACES;
 using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_TYPE;
 
@@ -88,12 +88,12 @@ class TestControllerManagerHWManagementSrvs : public TestControllerManagerSrvs
 
   void check_component_fileds(
     const controller_manager_msgs::msg::HardwareComponentState & component,
-    const std::string & name, const std::string & type, const std::string & class_type,
+    const std::string & name, const std::string & type, const std::string & plugin_name,
     const uint8_t state_id, const std::string & state_label)
   {
     EXPECT_EQ(component.name, name);
     EXPECT_EQ(component.type, type);
-    EXPECT_EQ(component.class_type, class_type);
+    EXPECT_EQ(component.plugin_name, plugin_name);
     EXPECT_EQ(component.state.id, state_id);
     EXPECT_EQ(component.state.label, state_label);
   }
@@ -135,7 +135,7 @@ class TestControllerManagerHWManagementSrvs : public TestControllerManagerSrvs
       {
         check_component_fileds(
           component, TEST_ACTUATOR_HARDWARE_NAME, TEST_ACTUATOR_HARDWARE_TYPE,
-          TEST_ACTUATOR_HARDWARE_CLASS_TYPE, hw_state_ids[0], hw_state_labels[0]);
+          TEST_ACTUATOR_HARDWARE_PLUGIN_NAME, hw_state_ids[0], hw_state_labels[0]);
         check_interfaces(
           component.command_interfaces, TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES,
           hw_itfs_available_status[0][0], hw_itfs_claimed_status[0][0]);
@@ -147,7 +147,7 @@ class TestControllerManagerHWManagementSrvs : public TestControllerManagerSrvs
       {
         check_component_fileds(
           component, TEST_SENSOR_HARDWARE_NAME, TEST_SENSOR_HARDWARE_TYPE,
-          TEST_SENSOR_HARDWARE_CLASS_TYPE, hw_state_ids[1], hw_state_labels[1]);
+          TEST_SENSOR_HARDWARE_PLUGIN_NAME, hw_state_ids[1], hw_state_labels[1]);
         check_interfaces(
           component.command_interfaces, TEST_SENSOR_HARDWARE_COMMAND_INTERFACES,
           hw_itfs_available_status[1][0], hw_itfs_claimed_status[1][0]);
@@ -159,7 +159,7 @@ class TestControllerManagerHWManagementSrvs : public TestControllerManagerSrvs
       {
         check_component_fileds(
           component, TEST_SYSTEM_HARDWARE_NAME, TEST_SYSTEM_HARDWARE_TYPE,
-          TEST_SYSTEM_HARDWARE_CLASS_TYPE, hw_state_ids[2], hw_state_labels[2]);
+          TEST_SYSTEM_HARDWARE_PLUGIN_NAME, hw_state_ids[2], hw_state_labels[2]);
         check_interfaces(
           component.command_interfaces, TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES,
           hw_itfs_available_status[2][0], hw_itfs_claimed_status[2][0]);

controller_manager_msgs/msg/HardwareComponentState.msg

@@ -1,6 +1,7 @@
 string name
 string type
-string class_type
+string class_type  # DEPRECATED
+string plugin_name
 lifecycle_msgs/State state
 HardwareInterface[] command_interfaces
 HardwareInterface[] state_interfaces

hardware_interface/include/hardware_interface/hardware_component_info.hpp

@@ -39,8 +39,8 @@ struct HardwareComponentInfo
   /// Component "classification": "actuator", "sensor" or "system"
   std::string type;
 
-  /// Component class type.
-  std::string class_type;
+  /// Component pluginlib plugin name.
+  std::string plugin_name;
 
   /// Component current state.
   rclcpp_lifecycle::State state;

hardware_interface/include/hardware_interface/hardware_info.hpp

@@ -106,8 +106,8 @@ struct HardwareInfo
   std::string name;
   /// Type of the hardware: actuator, sensor or system.
   std::string type;
-  /// Class of the hardware that will be dynamically loaded.
-  std::string hardware_class_type;
+  /// Name of the pluginlib plugin of the hardware that will be loaded.
+  std::string hardware_plugin_name;
   /// (Optional) Key-value pairs for hardware parameters.
   std::unordered_map<std::string, std::string> hardware_parameters;
   /**

hardware_interface/src/component_parser.cpp

@@ -27,7 +27,7 @@ namespace
 constexpr const auto kRobotTag = "robot";
 constexpr const auto kROS2ControlTag = "ros2_control";
 constexpr const auto kHardwareTag = "hardware";
-constexpr const auto kClassTypeTag = "plugin";
+constexpr const auto kPluginNameTag = "plugin";
 constexpr const auto kParamTag = "param";
 constexpr const auto kActuatorTag = "actuator";
 constexpr const auto kJointTag = "joint";
@@ -404,8 +404,8 @@ TransmissionInfo parse_transmission_from_xml(const tinyxml2::XMLElement * transm
 
   // Find name, type and class of a transmission
   transmission.name = get_attribute_value(transmission_it, kNameAttribute, transmission_it->Name());
-  const auto * type_it = transmission_it->FirstChildElement(kClassTypeTag);
-  transmission.type = get_text_for_element(type_it, kClassTypeTag);
+  const auto * type_it = transmission_it->FirstChildElement(kPluginNameTag);
+  transmission.type = get_text_for_element(type_it, kPluginNameTag);
 
   // Parse joints
   const auto * joint_it = transmission_it->FirstChildElement(kJointTag);
@@ -496,15 +496,15 @@ HardwareInfo parse_resource_from_xml(
   hardware.type = get_attribute_value(ros2_control_it, kTypeAttribute, kROS2ControlTag);
 
   // Parse everything under ros2_control tag
-  hardware.hardware_class_type = "";
+  hardware.hardware_plugin_name = "";
   const auto * ros2_control_child_it = ros2_control_it->FirstChildElement();
   while (ros2_control_child_it)
   {
     if (!std::string(kHardwareTag).compare(ros2_control_child_it->Name()))
     {
-      const auto * type_it = ros2_control_child_it->FirstChildElement(kClassTypeTag);
-      hardware.hardware_class_type =
-        get_text_for_element(type_it, std::string("hardware ") + kClassTypeTag);
+      const auto * type_it = ros2_control_child_it->FirstChildElement(kPluginNameTag);
+      hardware.hardware_plugin_name =
+        get_text_for_element(type_it, std::string("hardware ") + kPluginNameTag);
       const auto * params_it = ros2_control_child_it->FirstChildElement(kParamTag);
       if (params_it)
       {

hardware_interface/src/resource_manager.cpp

@@ -87,18 +87,16 @@ class ResourceStorage
   {
     RCUTILS_LOG_INFO_NAMED(
       "resource_manager", "Loading hardware '%s' ", hardware_info.name.c_str());
-    // hardware_class_type has to match class name in plugin xml description
-    // TODO(karsten1987) extract package from hardware_class_type
-    // e.g.: <package_vendor>/<system_type>
+    // hardware_plugin_name has to match class name in plugin xml description
     auto interface = std::unique_ptr<HardwareInterfaceT>(
-      loader.createUnmanagedInstance(hardware_info.hardware_class_type));
+      loader.createUnmanagedInstance(hardware_info.hardware_plugin_name));
     HardwareT hardware(std::move(interface));
     container.emplace_back(std::move(hardware));
     // initialize static data about hardware component to reduce later calls
     HardwareComponentInfo component_info;
     component_info.name = hardware_info.name;
     component_info.type = hardware_info.type;
-    component_info.class_type = hardware_info.hardware_class_type;
+    component_info.plugin_name = hardware_info.hardware_plugin_name;
 
     hardware_info_map_.insert(std::make_pair(component_info.name, component_info));
     hardware_used_by_controllers_.insert(

hardware_interface/test/test_component_parser.cpp

@@ -123,7 +123,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_one_interface)
   EXPECT_EQ(hardware_info.name, "RRBotSystemPositionOnly");
   EXPECT_EQ(hardware_info.type, "system");
   EXPECT_EQ(
-    hardware_info.hardware_class_type,
+    hardware_info.hardware_plugin_name,
     "ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware");
   ASSERT_THAT(hardware_info.hardware_parameters, SizeIs(2));
   EXPECT_EQ(hardware_info.hardware_parameters.at("example_param_write_for_sec"), "2");
@@ -162,7 +162,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_multi_interface
   EXPECT_EQ(hardware_info.name, "RRBotSystemMultiInterface");
   EXPECT_EQ(hardware_info.type, "system");
   EXPECT_EQ(
-    hardware_info.hardware_class_type,
+    hardware_info.hardware_plugin_name,
     "ros2_control_demo_hardware/RRBotSystemMultiInterfaceHardware");
   ASSERT_THAT(hardware_info.hardware_parameters, SizeIs(2));
   EXPECT_EQ(hardware_info.hardware_parameters.at("example_param_write_for_sec"), "2");
@@ -199,7 +199,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_robot_with_sens
   EXPECT_EQ(hardware_info.name, "RRBotSystemWithSensor");
   EXPECT_EQ(hardware_info.type, "system");
   EXPECT_EQ(
-    hardware_info.hardware_class_type, "ros2_control_demo_hardware/RRBotSystemWithSensorHardware");
+    hardware_info.hardware_plugin_name, "ros2_control_demo_hardware/RRBotSystemWithSensorHardware");
   ASSERT_THAT(hardware_info.hardware_parameters, SizeIs(2));
   EXPECT_EQ(hardware_info.hardware_parameters.at("example_param_write_for_sec"), "2");
 
@@ -243,7 +243,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_robot_with_exte
   EXPECT_EQ(hardware_info.name, "RRBotSystemPositionOnlyWithExternalSensor");
   EXPECT_EQ(hardware_info.type, "system");
   EXPECT_EQ(
-    hardware_info.hardware_class_type,
+    hardware_info.hardware_plugin_name,
     "ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware");
   ASSERT_THAT(hardware_info.hardware_parameters, SizeIs(2));
   EXPECT_EQ(hardware_info.hardware_parameters.at("example_param_write_for_sec"), "2");
@@ -284,7 +284,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_modular_robot
   EXPECT_EQ(hardware_info.name, "RRBotModularJoint1");
   EXPECT_EQ(hardware_info.type, "actuator");
   EXPECT_EQ(
-    hardware_info.hardware_class_type, "ros2_control_demo_hardware/PositionActuatorHardware");
+    hardware_info.hardware_plugin_name, "ros2_control_demo_hardware/PositionActuatorHardware");
   ASSERT_THAT(hardware_info.hardware_parameters, SizeIs(2));
   EXPECT_EQ(hardware_info.hardware_parameters.at("example_param_write_for_sec"), "1.23");
 
@@ -297,7 +297,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_modular_robot
   EXPECT_EQ(hardware_info.name, "RRBotModularJoint2");
   EXPECT_EQ(hardware_info.type, "actuator");
   EXPECT_EQ(
-    hardware_info.hardware_class_type, "ros2_control_demo_hardware/PositionActuatorHardware");
+    hardware_info.hardware_plugin_name, "ros2_control_demo_hardware/PositionActuatorHardware");
   ASSERT_THAT(hardware_info.hardware_parameters, SizeIs(2));
   EXPECT_EQ(hardware_info.hardware_parameters.at("example_param_read_for_sec"), "3");
 
@@ -319,7 +319,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_modular_robot
   EXPECT_EQ(hardware_info.name, "RRBotModularJoint1");
   EXPECT_EQ(hardware_info.type, "actuator");
   EXPECT_EQ(
-    hardware_info.hardware_class_type, "ros2_control_demo_hardware/VelocityActuatorHardware");
+    hardware_info.hardware_plugin_name, "ros2_control_demo_hardware/VelocityActuatorHardware");
   ASSERT_THAT(hardware_info.hardware_parameters, SizeIs(2));
   EXPECT_EQ(hardware_info.hardware_parameters.at("example_param_write_for_sec"), "1.23");
 
@@ -344,7 +344,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_modular_robot
   EXPECT_EQ(hardware_info.name, "RRBotModularJoint2");
   EXPECT_EQ(hardware_info.type, "actuator");
   EXPECT_EQ(
-    hardware_info.hardware_class_type, "ros2_control_demo_hardware/VelocityActuatorHardware");
+    hardware_info.hardware_plugin_name, "ros2_control_demo_hardware/VelocityActuatorHardware");
   ASSERT_THAT(hardware_info.hardware_parameters, SizeIs(2));
   EXPECT_EQ(hardware_info.hardware_parameters.at("example_param_read_for_sec"), "3");
 
@@ -360,7 +360,8 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_modular_robot
 
   EXPECT_EQ(hardware_info.name, "RRBotModularPositionSensorJoint1");
   EXPECT_EQ(hardware_info.type, "sensor");
-  EXPECT_EQ(hardware_info.hardware_class_type, "ros2_control_demo_hardware/PositionSensorHardware");
+  EXPECT_EQ(
+    hardware_info.hardware_plugin_name, "ros2_control_demo_hardware/PositionSensorHardware");
   ASSERT_THAT(hardware_info.hardware_parameters, SizeIs(1));
   EXPECT_EQ(hardware_info.hardware_parameters.at("example_param_read_for_sec"), "2");
 
@@ -376,7 +377,8 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_modular_robot
 
   EXPECT_EQ(hardware_info.name, "RRBotModularPositionSensorJoint2");
   EXPECT_EQ(hardware_info.type, "sensor");
-  EXPECT_EQ(hardware_info.hardware_class_type, "ros2_control_demo_hardware/PositionSensorHardware");
+  EXPECT_EQ(
+    hardware_info.hardware_plugin_name, "ros2_control_demo_hardware/PositionSensorHardware");
   ASSERT_THAT(hardware_info.hardware_parameters, SizeIs(1));
   EXPECT_EQ(hardware_info.hardware_parameters.at("example_param_read_for_sec"), "2");
 
@@ -402,7 +404,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_multi_joints_tr
   EXPECT_EQ(hardware_info.name, "RRBotModularWrist");
   EXPECT_EQ(hardware_info.type, "system");
   EXPECT_EQ(
-    hardware_info.hardware_class_type, "ros2_control_demo_hardware/ActuatorHardwareMultiDOF");
+    hardware_info.hardware_plugin_name, "ros2_control_demo_hardware/ActuatorHardwareMultiDOF");
   ASSERT_THAT(hardware_info.hardware_parameters, SizeIs(2));
   EXPECT_EQ(hardware_info.hardware_parameters.at("example_param_write_for_sec"), "1.23");
 
@@ -443,7 +445,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_sensor_only)
 
   EXPECT_EQ(hardware_info.name, "CameraWithIMU");
   EXPECT_EQ(hardware_info.type, "sensor");
-  EXPECT_EQ(hardware_info.hardware_class_type, "ros2_control_demo_hardware/CameraWithIMUSensor");
+  EXPECT_EQ(hardware_info.hardware_plugin_name, "ros2_control_demo_hardware/CameraWithIMUSensor");
   ASSERT_THAT(hardware_info.hardware_parameters, SizeIs(1));
   EXPECT_EQ(hardware_info.hardware_parameters.at("example_param_read_for_sec"), "2");
 
@@ -473,7 +475,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_actuator_only)
   EXPECT_EQ(hardware_info.name, "ActuatorModularJoint1");
   EXPECT_EQ(hardware_info.type, "actuator");
   EXPECT_EQ(
-    hardware_info.hardware_class_type, "ros2_control_demo_hardware/VelocityActuatorHardware");
+    hardware_info.hardware_plugin_name, "ros2_control_demo_hardware/VelocityActuatorHardware");
   ASSERT_THAT(hardware_info.hardware_parameters, SizeIs(2));
   EXPECT_EQ(hardware_info.hardware_parameters.at("example_param_write_for_sec"), "1.13");
 
@@ -521,7 +523,7 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_robot_with_gpio
   EXPECT_EQ(hardware_info.name, "RRBotSystemWithGPIO");
   EXPECT_EQ(hardware_info.type, "system");
   EXPECT_EQ(
-    hardware_info.hardware_class_type, "ros2_control_demo_hardware/RRBotSystemWithGPIOHardware");
+    hardware_info.hardware_plugin_name, "ros2_control_demo_hardware/RRBotSystemWithGPIOHardware");
 
   ASSERT_THAT(hardware_info.joints, SizeIs(2));
 
@@ -564,7 +566,8 @@ TEST_F(TestComponentParser, successfully_parse_valid_urdf_system_with_size_and_d
   EXPECT_EQ(hardware_info.name, "RRBotSystemWithSizeAndDataType");
   EXPECT_EQ(hardware_info.type, "system");
   EXPECT_EQ(
-    hardware_info.hardware_class_type, "ros2_control_demo_hardware/RRBotSystemWithSizeAndDataType");
+    hardware_info.hardware_plugin_name,
+    "ros2_control_demo_hardware/RRBotSystemWithSizeAndDataType");
 
   ASSERT_THAT(hardware_info.joints, SizeIs(1));
 

hardware_interface/test/test_resource_manager.cpp

@@ -29,19 +29,19 @@
 #include "rclcpp_lifecycle/state.hpp"
 #include "ros2_control_test_assets/descriptions.hpp"
 
-using ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_CLASS_TYPE;
 using ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_COMMAND_INTERFACES;
 using ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_NAME;
+using ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_PLUGIN_NAME;
 using ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_STATE_INTERFACES;
 using ros2_control_test_assets::TEST_ACTUATOR_HARDWARE_TYPE;
-using ros2_control_test_assets::TEST_SENSOR_HARDWARE_CLASS_TYPE;
 using ros2_control_test_assets::TEST_SENSOR_HARDWARE_COMMAND_INTERFACES;
 using ros2_control_test_assets::TEST_SENSOR_HARDWARE_NAME;
+using ros2_control_test_assets::TEST_SENSOR_HARDWARE_PLUGIN_NAME;
 using ros2_control_test_assets::TEST_SENSOR_HARDWARE_STATE_INTERFACES;
 using ros2_control_test_assets::TEST_SENSOR_HARDWARE_TYPE;
-using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_CLASS_TYPE;
 using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_COMMAND_INTERFACES;
 using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_NAME;
+using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_PLUGIN_NAME;
 using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_STATE_INTERFACES;
 using ros2_control_test_assets::TEST_SYSTEM_HARDWARE_TYPE;
 
@@ -448,10 +448,11 @@ TEST_F(ResourceManagerTest, resource_status)
   EXPECT_EQ(status_map[TEST_ACTUATOR_HARDWARE_NAME].type, TEST_ACTUATOR_HARDWARE_TYPE);
   EXPECT_EQ(status_map[TEST_SENSOR_HARDWARE_NAME].type, TEST_SENSOR_HARDWARE_TYPE);
   EXPECT_EQ(status_map[TEST_SYSTEM_HARDWARE_NAME].type, TEST_SYSTEM_HARDWARE_TYPE);
-  // class_type
-  EXPECT_EQ(status_map[TEST_ACTUATOR_HARDWARE_NAME].class_type, TEST_ACTUATOR_HARDWARE_CLASS_TYPE);
-  EXPECT_EQ(status_map[TEST_SENSOR_HARDWARE_NAME].class_type, TEST_SENSOR_HARDWARE_CLASS_TYPE);
-  EXPECT_EQ(status_map[TEST_SYSTEM_HARDWARE_NAME].class_type, TEST_SYSTEM_HARDWARE_CLASS_TYPE);
+  // plugin_name
+  EXPECT_EQ(
+    status_map[TEST_ACTUATOR_HARDWARE_NAME].plugin_name, TEST_ACTUATOR_HARDWARE_PLUGIN_NAME);
+  EXPECT_EQ(status_map[TEST_SENSOR_HARDWARE_NAME].plugin_name, TEST_SENSOR_HARDWARE_PLUGIN_NAME);
+  EXPECT_EQ(status_map[TEST_SYSTEM_HARDWARE_NAME].plugin_name, TEST_SYSTEM_HARDWARE_PLUGIN_NAME);
   // state
   EXPECT_EQ(
     status_map[TEST_ACTUATOR_HARDWARE_NAME].state.id(),

ros2_control_test_assets/include/ros2_control_test_assets/components_urdfs.hpp

@@ -421,7 +421,7 @@ const auto invalid_urdf_ros2_control_missing_attribute =
   </ros2_control>
   )";
 
-const auto invalid_urdf_ros2_control_component_missing_class_type =
+const auto invalid_urdf_ros2_control_component_missing_plugin_name =
   R"(
   <ros2_control name="2DOF_System_Robot_Position_Only" type="system">
     <hardware>
@@ -452,7 +452,7 @@ const auto invalid_urdf_ros2_control_parameter_missing_name =
   </ros2_control>
 )";
 
-const auto invalid_urdf_ros2_control_component_class_type_empty =
+const auto invalid_urdf_ros2_control_component_plugin_name_empty =
   R"(
   <ros2_control name="2DOF_System_Robot_Position_Only" type="system">
     <hardware>