rename macro to REGISTER_ROS2_CONTROL_INTROSPECTION

ros-controls · Dec 5, 2024 · c4f104c · c4f104c
1 parent b77fadc
commit c4f104c
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Showing 3 changed files with 4 additions and 7 deletions.
diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
@@ -141,8 +141,8 @@ const rclcpp_lifecycle::State & ControllerInterfaceBase::configure()
       thread_priority);
     async_handler_->start_thread();
   }
-  REGISTER_DEFAULT_INTROSPECTION("total_triggers", &trigger_stats_.total_triggers);
-  REGISTER_DEFAULT_INTROSPECTION("failed_triggers", &trigger_stats_.failed_triggers);
+  REGISTER_ROS2_CONTROL_INTROSPECTION("total_triggers", &trigger_stats_.total_triggers);
+  REGISTER_ROS2_CONTROL_INTROSPECTION("failed_triggers", &trigger_stats_.failed_triggers);
   trigger_stats_.reset();
 
   return get_node()->configure();

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -280,10 +280,7 @@ ControllerManager::ControllerManager(
   init_controller_manager();
 }
 
-ControllerManager::~ControllerManager()
-{
-  CLEAR_ALL_REGISTRIES();
-}
+ControllerManager::~ControllerManager() { CLEAR_ALL_REGISTRIES(); }
 
 void ControllerManager::init_controller_manager()
 {

diff --git a/hardware_interface/include/hardware_interface/introspection.hpp b/hardware_interface/include/hardware_interface/introspection.hpp
@@ -24,7 +24,7 @@ namespace hardware_interface
 constexpr char DEFAULT_REGISTRY_KEY[] = "ros2_control";
 constexpr char DEFAULT_INTROSPECTION_TOPIC[] = "~/introspection_data";
 
-#define REGISTER_DEFAULT_INTROSPECTION(ID, ENTITY)                           \
+#define REGISTER_ROS2_CONTROL_INTROSPECTION(ID, ENTITY)                      \
   REGISTER_ENTITY(                                                           \
     hardware_interface::DEFAULT_REGISTRY_KEY, get_name() + "." + ID, ENTITY, \
     &stats_registrations_, false)