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Fix version check for hardware_interface #882

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merged 1 commit into from
Jan 16, 2024
Merged

Fix version check for hardware_interface #882

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4 changes: 2 additions & 2 deletions webots_ros2_control/src/Ros2Control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -78,7 +78,7 @@ namespace webots_ros2_control {
}
for (unsigned int i = 0; i < controlHardware.size(); i++) {
// Necessary hotfix for renamed variables present in "hardware_interface" package for versions above 3.5 (#590)
#if HARDWARE_INTERFACE_VERSION_MAJOR >= 3 && HARDWARE_INTERFACE_VERSION_MINOR >= 5
#if HARDWARE_INTERFACE_VERSION_MAJOR >= 4 || HARDWARE_INTERFACE_VERSION_MAJOR >= 3 && HARDWARE_INTERFACE_VERSION_MINOR >= 5
const std::string pluginName = controlHardware[i].hardware_plugin_name;
auto webotsSystem =
std::unique_ptr<webots_ros2_control::Ros2ControlSystemInterface>(mHardwareLoader->createUnmanagedInstance(pluginName));
Expand All @@ -93,7 +93,7 @@ namespace webots_ros2_control {
// Configure and activate all components
// Necessary hotfix for deprecation of component activation present in "hardware_interface" package for versions above 3.15
// (#793)
#if HARDWARE_INTERFACE_VERSION_MAJOR >= 3 && HARDWARE_INTERFACE_VERSION_MINOR >= 15
#if HARDWARE_INTERFACE_VERSION_MAJOR >= 4 || HARDWARE_INTERFACE_VERSION_MAJOR >= 3 && HARDWARE_INTERFACE_VERSION_MINOR >= 15
using lifecycle_msgs::msg::State;
rclcpp_lifecycle::State active_state(State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
resourceManager->set_component_state(controlHardware[i].name, active_state);
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