update release and migration notes

doc/migration.rst

@@ -75,7 +75,7 @@ hardware_interface
 ******************
 * ``test_components`` was moved to its own package. Update the dependencies if you are using them. (`#1325 <https://github.com/ros-controls/ros2_control/pull/1325>`_)
 * With (`#1683 <https://github.com/ros-controls/ros2_control/pull/1683>`_) the ``rclcpp_lifecycle::State & get_state()`` and ``void set_state(const rclcpp_lifecycle::State & new_state)`` are replaced by ``rclcpp_lifecycle::State & get_lifecycle_state()`` and ``void set_lifecycle_state(const rclcpp_lifecycle::State & new_state)``. This change affects controllers and hardware. This is related to (`#1240 <https://github.com/ros-controls/ros2_control/pull/1240>`_) as variant support introduces ``get_state`` and ``set_state`` methods for setting/getting state of handles.
-* A new ``get_value`` that returns a ``std::optional`` was added to the ``CommandInterface`` and ``StateInterface``. This can be used to check if the value is available or not. (`#1976 <https://github.com/ros-controls/ros2_control/pull/1976>`_)
+* A new ``get_optional`` that returns a ``std::optional`` was added to the ``CommandInterface`` and ``StateInterface``. This can be used to check if the value is available or not. (`#1976 <https://github.com/ros-controls/ros2_control/pull/1976>`_ and `#2061 <https://github.com/ros-controls/ros2_control/pull/2061>`_)
 
 Adaption of Command-/StateInterfaces
 ***************************************
@@ -90,12 +90,12 @@ Earlier code will issue compile-time warnings like:
 
 .. code::
 
-  warning: ‘double hardware_interface::Handle::get_value() const’ is deprecated: Use std::optional<T> get_value() or bool get_value(double & value) instead to retrieve the value. [-Wdeprecated-declarations]
+  warning: ‘double hardware_interface::Handle::get_value() const’ is deprecated: Use std::optional<T> get_optional() or bool get_value(double & value) instead to retrieve the value. [-Wdeprecated-declarations]
   warning: ignoring return value of ‘bool hardware_interface::Handle::set_value(const T&) [with T = double]’ [-Wunused-result]
 
 The old methods are deprecated and will be removed in the future. The new methods are:
 
-  * ``std::optional<T> get_value()`` or ``bool get_value(T & value)`` for getting the value.
+  * ``std::optional<T> get_optional()`` or ``bool get_value(T & value)`` for getting the value.
   * ``bool set_value(const T & value)`` for setting the value.
 
 The return value ``bool`` or ``std::optional<T>`` with ``get_value`` can be used to check if the value is available or not. Similarly, the ``set_value`` method returns a ``bool`` to check if the value was set or not.

doc/release_notes.rst

@@ -164,7 +164,7 @@ hardware_interface
 * With (`#1763 <https://github.com/ros-controls/ros2_control/pull/1763>`_) parsing for SDF published to ``robot_description`` topic is now also supported.
 * With (`#1567 <https://github.com/ros-controls/ros2_control/pull/1567>`_) all the Hardware components now have a fully functional asynchronous functionality, by simply adding ``is_async`` tag to the ros2_control tag in the URDF. This will allow the hardware components to run in a separate thread, and the controller manager will be able to run the controllers in parallel with the hardware components.
 * The hardware components can be easily introspect the internal member variables using the macro ``REGISTER_ROS2_CONTROL_INTROSPECTION`` (`#1918 <https://github.com/ros-controls/ros2_control/pull/1918>`_)
-* Added new ``get_value`` method that returns ``std::optional`` of the templated type, and this can be used to check if the value is available or not (`#1976 <https://github.com/ros-controls/ros2_control/pull/1976>`_)
+* Added new ``get_optional`` method that returns ``std::optional`` of the templated type, and this can be used to check if the value is available or not (`#1976 <https://github.com/ros-controls/ros2_control/pull/1976>`_ and `#2061 <https://github.com/ros-controls/ros2_control/pull/2061>`_)
 
 joint_limits
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