cleanup

ros-controls · Oct 5, 2024 · f4ec3d6 · f4ec3d6
1 parent 730e91b
commit f4ec3d6
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Showing 3 changed files with 2 additions and 4 deletions.
diff --git a/controller_interface/src/chainable_controller_interface.cpp b/controller_interface/src/chainable_controller_interface.cpp
@@ -107,8 +107,6 @@ ChainableControllerInterface::export_reference_interfaces()
   // check if the "reference_interfaces_" variable is resized to number of interfaces
   if (reference_interfaces_.size() != reference_interfaces.size())
   {
-    // TODO(destogl): Should here be "FATAL"? It is fatal in terms of controller but not for the
-    // framework
     std::string error_msg =
       "The internal storage for reference values 'reference_interfaces_' variable has size '" +
       std::to_string(reference_interfaces_.size()) + "', but it is expected to have the size '" +

diff --git a/hardware_interface/include/hardware_interface/resource_manager.hpp b/hardware_interface/include/hardware_interface/resource_manager.hpp
@@ -141,7 +141,7 @@ class HARDWARE_INTERFACE_PUBLIC ResourceManager
    * \param[in] interfaces list of controller's state interfaces as StateInterfaces.
    */
   void import_controller_exported_state_interfaces(
-    const std::string & controller_name, std::vector<std::shared_ptr<StateInterface>> & interfaces);
+    const std::string & controller_name, std::vector<StateInterface::SharedPtr> & interfaces);
 
   /// Get list of exported tate interface of a controller.
   /**

diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
@@ -1241,7 +1241,7 @@ bool ResourceManager::state_interface_is_available(const std::string & name) con
 
 // CM API: Called in "callback/slow"-thread
 void ResourceManager::import_controller_exported_state_interfaces(
-  const std::string & controller_name, std::vector<std::shared_ptr<StateInterface>> & interfaces)
+  const std::string & controller_name, std::vector<StateInterface::SharedPtr> & interfaces)
 {
   std::lock_guard<std::recursive_mutex> guard(resource_interfaces_lock_);
   auto interface_names = resource_storage_->add_state_interfaces(interfaces);