Handle hardware errors in Resource Manager (backport #805) #abi-breaking

[mergify]

This is an automatic backport of pull request #805 done by Mergify.

---

Mergify commands and options

More conditions and actions can be found in the documentation.

You can also trigger Mergify actions by commenting on this pull request:

• @Mergifyio refresh will re-evaluate the rules
• @Mergifyio rebase will rebase this PR on its base branch
• @Mergifyio update will merge the base branch into this PR
• @Mergifyio backport <destination> will backport this PR on <destination> branch

Additionally, on Mergify dashboard you can:

• look at your merge queues
• generate the Mergify configuration with the config editor.

Finally, you can contact us on https://mergify.com

[anfemosa]

Looks good for me

[Benjamin-Tan]

Any concerns/thoughts on this PR from the reviewers? Apart from the known ABI breaking

[christophfroehlich]

Could this mean that current behavior of a setup changes, because the hardware_components' read/write methods had already a return type, which was just ignored before?

ros2_control/hardware_interface/include/hardware_interface/system_interface.hpp

Line 186 in c74fb61

virtual return_type write(const rclcpp::Time & time, const rclcpp::Duration & period) = 0;

[destogl]

@bmagyar can we merge this?

[mergify]

This pull request is in conflict. Could you fix it @mergify[bot]?

[Benjamin-Tan]

Can this PR be merged with breaking ABI? Similarly to other backport PR. These seem to be preventing the humble branch from upgrading to the new release, keeping it at version 2 where as the main branch has gone to version 4 now.

[christophfroehlich]

Can this PR be merged with breaking ABI? Similarly to other backport PR. These seem to be preventing the humble branch from upgrading to the new release, keeping it at version 2 where as the main branch has gone to version 4 now.

fyi the first number of the version number stands for the respective ROS distro (2.. humble, 3.. iron, 4.. rolling).

[bmagyar]

@Mergifyio rebase

[mergify]

rebase

☑️ Nothing to do

• -conflict [:pushpin: rebase requirement]
• -closed [:pushpin: rebase requirement]

[christophfroehlich]

looks fine now! Just for completeness once again: User's hardware-components might explode now if they already returned ERROR.