Migrating from Foxy to Galactic

.github/workflows/ci-build-semi-binary.yml

@@ -17,6 +17,8 @@ jobs:
         env:
           - {ROS_DISTRO: rolling, ROS_REPO: main}
           - {ROS_DISTRO: rolling, ROS_REPO: testing}
+    env:
+      UPSTREAM_WORKSPACE: ros2_control_demos.repos
     steps:
       - uses: actions/checkout@v1
       - uses: 'ros-industrial/industrial_ci@master'

ros2_control_demo_hardware/CMakeLists.txt

@@ -15,6 +15,8 @@ find_package(ament_cmake REQUIRED)
 find_package(hardware_interface REQUIRED)
 find_package(pluginlib REQUIRED)
 find_package(rclcpp REQUIRED)
+find_package(rclcpp_lifecycle REQUIRED)
+
 
 ## COMPILE
 add_library(
@@ -35,6 +37,7 @@ ament_target_dependencies(
   hardware_interface
   pluginlib
   rclcpp
+  rclcpp_lifecycle
 )
 
 pluginlib_export_plugin_description_file(hardware_interface ros2_control_demo_hardware.xml)
@@ -64,5 +67,6 @@ ament_export_dependencies(
   hardware_interface
   pluginlib
   rclcpp
+  rclcpp_lifecycle
 )
 ament_package()

ros2_control_demo_hardware/include/ros2_control_demo_hardware/diffbot_system.hpp

@@ -19,25 +19,26 @@
 #include <string>
 #include <vector>
 
-#include "hardware_interface/base_interface.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
-#include "hardware_interface/types/hardware_interface_status_values.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
+#include "rclcpp_lifecycle/state.hpp"
 #include "ros2_control_demo_hardware/visibility_control.h"
 
+using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+
 namespace ros2_control_demo_hardware
 {
-class DiffBotSystemHardware
-: public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
+class DiffBotSystemHardware : public hardware_interface::SystemInterface
 {
 public:
   RCLCPP_SHARED_PTR_DEFINITIONS(DiffBotSystemHardware);
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
-  hardware_interface::return_type configure(const hardware_interface::HardwareInfo & info) override;
+  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
@@ -46,10 +47,10 @@ class DiffBotSystemHardware
   std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
-  hardware_interface::return_type start() override;
+  CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
-  hardware_interface::return_type stop() override;
+  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
   hardware_interface::return_type read() override;

ros2_control_demo_hardware/include/ros2_control_demo_hardware/rrbot_system_multi_interface.hpp

@@ -20,28 +20,26 @@
 #include <string>
 #include <vector>
 
-#include "rclcpp/macros.hpp"
-
-#include "hardware_interface/base_interface.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
-#include "hardware_interface/types/hardware_interface_status_values.hpp"
+#include "rclcpp/macros.hpp"
+#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
+#include "rclcpp_lifecycle/state.hpp"
 #include "ros2_control_demo_hardware/visibility_control.h"
 
-using hardware_interface::return_type;
+using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
 namespace ros2_control_demo_hardware
 {
-class RRBotSystemMultiInterfaceHardware
-: public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
+class RRBotSystemMultiInterfaceHardware : public hardware_interface::SystemInterface
 {
 public:
   RCLCPP_SHARED_PTR_DEFINITIONS(RRBotSystemMultiInterfaceHardware);
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
-  return_type configure(const hardware_interface::HardwareInfo & info) override;
+  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
@@ -50,21 +48,21 @@ class RRBotSystemMultiInterfaceHardware
   std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
-  return_type prepare_command_mode_switch(
+  hardware_interface::return_type prepare_command_mode_switch(
     const std::vector<std::string> & start_interfaces,
     const std::vector<std::string> & stop_interfaces) override;
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
-  return_type start() override;
+  CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
-  return_type stop() override;
+  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
-  return_type read() override;
+  hardware_interface::return_type read() override;
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
-  return_type write() override;
+  hardware_interface::return_type write() override;
 
 private:
   // Parameters for the RRBot simulation

ros2_control_demo_hardware/include/ros2_control_demo_hardware/rrbot_system_position_only.hpp

@@ -19,25 +19,29 @@
 #include <string>
 #include <vector>
 
-#include "hardware_interface/base_interface.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
-#include "hardware_interface/types/hardware_interface_status_values.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
+#include "rclcpp_lifecycle/state.hpp"
 #include "ros2_control_demo_hardware/visibility_control.h"
 
+using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+
 namespace ros2_control_demo_hardware
 {
-class RRBotSystemPositionOnlyHardware
-: public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
+class RRBotSystemPositionOnlyHardware : public hardware_interface::SystemInterface
 {
 public:
   RCLCPP_SHARED_PTR_DEFINITIONS(RRBotSystemPositionOnlyHardware);
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
-  hardware_interface::return_type configure(const hardware_interface::HardwareInfo & info) override;
+  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
+
+  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
+  CallbackReturn on_configure(const rclcpp_lifecycle::State & previous_state) override;
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
@@ -46,10 +50,10 @@ class RRBotSystemPositionOnlyHardware
   std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
-  hardware_interface::return_type start() override;
+  CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
-  hardware_interface::return_type stop() override;
+  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
   hardware_interface::return_type read() override;

ros2_control_demo_hardware/include/ros2_control_demo_hardware/rrbot_system_with_sensor.hpp

@@ -23,25 +23,28 @@
 #include <string>
 #include <vector>
 
-#include "hardware_interface/base_interface.hpp"
 #include "hardware_interface/handle.hpp"
 #include "hardware_interface/hardware_info.hpp"
 #include "hardware_interface/system_interface.hpp"
 #include "hardware_interface/types/hardware_interface_return_values.hpp"
-#include "hardware_interface/types/hardware_interface_status_values.hpp"
 #include "rclcpp/macros.hpp"
+#include "rclcpp_lifecycle/state.hpp"
 #include "ros2_control_demo_hardware/visibility_control.h"
 
+using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
+
 namespace ros2_control_demo_hardware
 {
-class RRBotSystemWithSensorHardware
-: public hardware_interface::BaseInterface<hardware_interface::SystemInterface>
+class RRBotSystemWithSensorHardware : public hardware_interface::SystemInterface
 {
 public:
   RCLCPP_SHARED_PTR_DEFINITIONS(RRBotSystemWithSensorHardware);
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
-  hardware_interface::return_type configure(const hardware_interface::HardwareInfo & info) override;
+  CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override;
+
+  ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
+  CallbackReturn on_configure(const rclcpp_lifecycle::State & previous_state) override;
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
@@ -50,10 +53,10 @@ class RRBotSystemWithSensorHardware
   std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
-  hardware_interface::return_type start() override;
+  CallbackReturn on_activate(const rclcpp_lifecycle::State & previous_state) override;
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
-  hardware_interface::return_type stop() override;
+  CallbackReturn on_deactivate(const rclcpp_lifecycle::State & previous_state) override;
 
   ROS2_CONTROL_DEMO_HARDWARE_PUBLIC
   hardware_interface::return_type read() override;

ros2_control_demo_hardware/package.xml

@@ -14,6 +14,7 @@
   <depend>hardware_interface</depend>
   <depend>pluginlib</depend>
   <depend>rclcpp</depend>
+  <depend>rclcpp_lifecycle</depend>
 
   <test_depend>ament_cmake_gtest</test_depend>
 

ros2_control_demo_hardware/src/diffbot_system.cpp

@@ -25,16 +25,15 @@
 
 namespace ros2_control_demo_hardware
 {
-hardware_interface::return_type DiffBotSystemHardware::configure(
-  const hardware_interface::HardwareInfo & info)
+CallbackReturn DiffBotSystemHardware::on_init(const hardware_interface::HardwareInfo & info)
 {
   base_x_ = 0.0;
   base_y_ = 0.0;
   base_theta_ = 0.0;
 
-  if (configure_default(info) != hardware_interface::return_type::OK)
+  if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
   {
-    return hardware_interface::return_type::ERROR;
+    return CallbackReturn::ERROR;
   }
 
   hw_start_sec_ = stod(info_.hardware_parameters["example_param_hw_start_duration_sec"]);
@@ -52,7 +51,7 @@ hardware_interface::return_type DiffBotSystemHardware::configure(
         rclcpp::get_logger("DiffBotSystemHardware"),
         "Joint '%s' has %zu command interfaces found. 1 expected.", joint.name.c_str(),
         joint.command_interfaces.size());
-      return hardware_interface::return_type::ERROR;
+      return CallbackReturn::ERROR;
     }
 
     if (joint.command_interfaces[0].name != hardware_interface::HW_IF_VELOCITY)
@@ -61,7 +60,7 @@ hardware_interface::return_type DiffBotSystemHardware::configure(
         rclcpp::get_logger("DiffBotSystemHardware"),
         "Joint '%s' have %s command interfaces found. '%s' expected.", joint.name.c_str(),
         joint.command_interfaces[0].name.c_str(), hardware_interface::HW_IF_VELOCITY);
-      return hardware_interface::return_type::ERROR;
+      return CallbackReturn::ERROR;
     }
 
     if (joint.state_interfaces.size() != 2)
@@ -70,7 +69,7 @@ hardware_interface::return_type DiffBotSystemHardware::configure(
         rclcpp::get_logger("DiffBotSystemHardware"),
         "Joint '%s' has %zu state interface. 2 expected.", joint.name.c_str(),
         joint.state_interfaces.size());
-      return hardware_interface::return_type::ERROR;
+      return CallbackReturn::ERROR;
     }
 
     if (joint.state_interfaces[0].name != hardware_interface::HW_IF_POSITION)
@@ -79,7 +78,7 @@ hardware_interface::return_type DiffBotSystemHardware::configure(
         rclcpp::get_logger("DiffBotSystemHardware"),
         "Joint '%s' have '%s' as first state interface. '%s' expected.", joint.name.c_str(),
         joint.state_interfaces[0].name.c_str(), hardware_interface::HW_IF_POSITION);
-      return hardware_interface::return_type::ERROR;
+      return CallbackReturn::ERROR;
     }
 
     if (joint.state_interfaces[1].name != hardware_interface::HW_IF_VELOCITY)
@@ -88,12 +87,11 @@ hardware_interface::return_type DiffBotSystemHardware::configure(
         rclcpp::get_logger("DiffBotSystemHardware"),
         "Joint '%s' have '%s' as second state interface. '%s' expected.", joint.name.c_str(),
         joint.state_interfaces[1].name.c_str(), hardware_interface::HW_IF_VELOCITY);
-      return hardware_interface::return_type::ERROR;
+      return CallbackReturn::ERROR;
     }
   }
 
-  status_ = hardware_interface::status::CONFIGURED;
-  return hardware_interface::return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
 std::vector<hardware_interface::StateInterface> DiffBotSystemHardware::export_state_interfaces()
@@ -122,7 +120,8 @@ std::vector<hardware_interface::CommandInterface> DiffBotSystemHardware::export_
   return command_interfaces;
 }
 
-hardware_interface::return_type DiffBotSystemHardware::start()
+CallbackReturn DiffBotSystemHardware::on_activate(
+  const rclcpp_lifecycle::State & /*previous_state*/)
 {
   RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "Starting ...please wait...");
 
@@ -144,14 +143,13 @@ hardware_interface::return_type DiffBotSystemHardware::start()
     }
   }
 
-  status_ = hardware_interface::status::STARTED;
-
   RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "System Successfully started!");
 
-  return hardware_interface::return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
-hardware_interface::return_type DiffBotSystemHardware::stop()
+CallbackReturn DiffBotSystemHardware::on_deactivate(
+  const rclcpp_lifecycle::State & /*previous_state*/)
 {
   RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "Stopping ...please wait...");
 
@@ -162,11 +160,9 @@ hardware_interface::return_type DiffBotSystemHardware::stop()
       rclcpp::get_logger("DiffBotSystemHardware"), "%.1f seconds left...", hw_stop_sec_ - i);
   }
 
-  status_ = hardware_interface::status::STOPPED;
-
   RCLCPP_INFO(rclcpp::get_logger("DiffBotSystemHardware"), "System successfully stopped!");
 
-  return hardware_interface::return_type::OK;
+  return CallbackReturn::SUCCESS;
 }
 
 hardware_interface::return_type DiffBotSystemHardware::read()