From e284af2171087fa6d2fca58fadcbd404dc7e0fb0 Mon Sep 17 00:00:00 2001
From: Takashi Sato <t.sato17123@gmail.com>
Date: Thu, 28 Nov 2024 01:07:34 +0900
Subject: [PATCH] Fix missing virtual of on_export_[state|command]_interfaces
 methods (#1888)

---
 .../include/hardware_interface/system_interface.hpp           | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/hardware_interface/include/hardware_interface/system_interface.hpp b/hardware_interface/include/hardware_interface/system_interface.hpp
index 18da0e4012..32d0b8a48a 100644
--- a/hardware_interface/include/hardware_interface/system_interface.hpp
+++ b/hardware_interface/include/hardware_interface/system_interface.hpp
@@ -178,7 +178,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    *
    * \return vector of shared pointers to the created and stored StateInterfaces
    */
-  std::vector<StateInterface::ConstSharedPtr> on_export_state_interfaces()
+  virtual std::vector<StateInterface::ConstSharedPtr> on_export_state_interfaces()
   {
     // import the unlisted interfaces
     std::vector<hardware_interface::InterfaceDescription> unlisted_interface_descriptions =
@@ -270,7 +270,7 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
    *
    * \return vector of shared pointers to the created and stored CommandInterfaces
    */
-  std::vector<CommandInterface::SharedPtr> on_export_command_interfaces()
+  virtual std::vector<CommandInterface::SharedPtr> on_export_command_interfaces()
   {
     // import the unlisted interfaces
     std::vector<hardware_interface::InterfaceDescription> unlisted_interface_descriptions =