added get_robot_description method to the base class

controller_interface/include/controller_interface/controller_interface_base.hpp

@@ -156,6 +156,9 @@ class ControllerInterfaceBase : public rclcpp_lifecycle::node_interfaces::Lifecy
   CONTROLLER_INTERFACE_PUBLIC
   bool is_async() const;
 
+  CONTROLLER_INTERFACE_PUBLIC
+  const std::string & get_robot_description() const;
+
   /// Declare and initialize a parameter with a type.
   /**
    *

controller_interface/src/controller_interface_base.cpp

@@ -133,4 +133,6 @@ unsigned int ControllerInterfaceBase::get_update_rate() const { return update_ra
 
 bool ControllerInterfaceBase::is_async() const { return is_async_; }
 
+const std::string & ControllerInterfaceBase::get_robot_description() const { return urdf_; }
+
 }  // namespace controller_interface

controller_manager/test/test_controller/test_controller.cpp

@@ -119,8 +119,6 @@ void TestController::set_state_interface_configuration(
   state_iface_cfg_ = cfg;
 }
 
-const std::string & TestController::getRobotDescription() const { return urdf_; }
-
 }  // namespace test_controller
 
 #include "pluginlib/class_list_macros.hpp"

controller_manager/test/test_controller_manager.cpp

@@ -45,7 +45,7 @@ TEST_F(TestControllerManagerRobotDescription, controller_robot_description_updat
   cm_->add_controller(
     test_controller, test_controller::TEST_CONTROLLER_NAME,
     test_controller::TEST_CONTROLLER_CLASS_NAME);
-  ASSERT_EQ(ros2_control_test_assets::minimal_robot_urdf, test_controller->getRobotDescription());
+  ASSERT_EQ(ros2_control_test_assets::minimal_robot_urdf, test_controller->get_robot_description());
 
   // Now change the robot description and then load a new controller and see if the new controller
   // gets the new description and the old controller still maintains the configuration
@@ -55,10 +55,10 @@ TEST_F(TestControllerManagerRobotDescription, controller_robot_description_updat
   cm_->add_controller(
     test_controller2, test_controller::TEST_CONTROLLER2_NAME,
     test_controller::TEST_CONTROLLER_CLASS_NAME);
-  ASSERT_EQ(ros2_control_test_assets::minimal_robot_urdf, test_controller->getRobotDescription());
+  ASSERT_EQ(ros2_control_test_assets::minimal_robot_urdf, test_controller->get_robot_description());
   ASSERT_EQ(
     ros2_control_test_assets::minimal_robot_missing_state_keys_urdf,
-    test_controller2->getRobotDescription());
+    test_controller2->get_robot_description());
 }
 
 TEST_P(TestControllerManagerWithStrictness, controller_lifecycle)

controller_manager/test/test_controller_manager_srvs.cpp

@@ -472,14 +472,14 @@ TEST_F(TestControllerManagerSrvs, robot_description_on_load_and_unload_controlle
   EXPECT_EQ(1u, cm_->get_loaded_controllers().size());
 
   // check the robot description
-  ASSERT_EQ(ros2_control_test_assets::minimal_robot_urdf, test_controller->getRobotDescription());
+  ASSERT_EQ(ros2_control_test_assets::minimal_robot_urdf, test_controller->get_robot_description());
 
   // Now change the robot description and then see that the controller maintains the old URDF until
   // it is unloaded and loaded again
   auto msg = std_msgs::msg::String();
   msg.data = ros2_control_test_assets::minimal_robot_missing_state_keys_urdf;
   cm_->robot_description_callback(msg);
-  ASSERT_EQ(ros2_control_test_assets::minimal_robot_urdf, test_controller->getRobotDescription());
+  ASSERT_EQ(ros2_control_test_assets::minimal_robot_urdf, test_controller->get_robot_description());
 
   // now unload and load the controller and see if the controller gets the new robot description
   auto unload_request = std::make_shared<controller_manager_msgs::srv::UnloadController::Request>();
@@ -494,7 +494,7 @@ TEST_F(TestControllerManagerSrvs, robot_description_on_load_and_unload_controlle
   EXPECT_EQ(1u, cm_->get_loaded_controllers().size());
   ASSERT_EQ(
     ros2_control_test_assets::minimal_robot_missing_state_keys_urdf,
-    test_controller->getRobotDescription());
+    test_controller->get_robot_description());
 }
 
 TEST_F(TestControllerManagerSrvs, configure_controller_srv)