Revert "Compiles again"

This reverts commit 06ff415.
ros-controls · Nov 21, 2024 · 45f5315 · 45f5315
1 parent 06ff415
commit 45f5315
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Showing 3 changed files with 11 additions and 10 deletions.
diff --git a/admittance_controller/include/admittance_controller/admittance_rule.hpp b/admittance_controller/include/admittance_controller/admittance_rule.hpp
@@ -102,7 +102,8 @@ class AdmittanceRule
 
   /// Configure admittance rule memory using number of joints.
   controller_interface::return_type configure(
-    const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joint);
+    const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joint,
+    const std::string & robot_description);
 
   /// Reset all values back to default
   controller_interface::return_type reset(const size_t num_joints);

diff --git a/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
@@ -35,7 +35,8 @@ constexpr auto NUM_CARTESIAN_DOF = 6;  // (3 translation + 3 rotation)
 
 /// Configure admittance rule memory for num joints and load kinematics interface
 controller_interface::return_type AdmittanceRule::configure(
-  const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joints)
+  const std::shared_ptr<rclcpp_lifecycle::LifecycleNode> & node, const size_t num_joints,
+  const std::string & robot_description)
 {
   num_joints_ = num_joints;
 
@@ -58,7 +59,8 @@ controller_interface::return_type AdmittanceRule::configure(
       kinematics_ = std::unique_ptr<kinematics_interface::KinematicsInterface>(
         kinematics_loader_->createUnmanagedInstance(parameters_.kinematics.plugin_name));
 
-      if (!kinematics_->initialize(node->get_node_parameters_interface(), "kinematics"))
+      if (!kinematics_->initialize(
+            robot_description, node->get_node_parameters_interface(), "kinematics"))
       {
         return controller_interface::return_type::ERROR;
       }

diff --git a/admittance_controller/src/admittance_controller.cpp b/admittance_controller/src/admittance_controller.cpp
@@ -289,14 +289,10 @@ controller_interface::CallbackReturn AdmittanceController::on_configure(
       "~/wrench_reference", rclcpp::SystemDefaultsQoS(),
       [&](const geometry_msgs::msg::WrenchStamped & msg)
       {
-        if (
-          msg.header.frame_id != admittance_->parameters_.ft_sensor.frame.id &&
-          !msg.header.frame_id.empty())
+        if (msg.header.frame_id != admittance_->parameters_.ft_sensor.frame.id && !msg.header.frame_id.empty())
         {
           RCLCPP_ERROR_STREAM(
-            get_node()->get_logger(), "Ignoring wrench reference as it is on the wrong frame: "
-                                        << msg.header.frame_id << ". Expected reference frame: "
-                                        << admittance_->parameters_.ft_sensor.frame.id);
+            get_node()->get_logger(), "Ignoring wrench reference as it is on the wrong frame: " << msg.header.frame_id << ". Expected reference frame: " << admittance_->parameters_.ft_sensor.frame_id);
           return;
         }
         input_wrench_command_.writeFromNonRT(msg);
@@ -316,7 +312,9 @@ controller_interface::CallbackReturn AdmittanceController::on_configure(
     semantic_components::ForceTorqueSensor(admittance_->parameters_.ft_sensor.name));
 
   // configure admittance rule
-  if (admittance_->configure(get_node(), num_joints_) == controller_interface::return_type::ERROR)
+  if (
+    admittance_->configure(get_node(), num_joints_, this->get_robot_description()) ==
+    controller_interface::return_type::ERROR)
   {
     return controller_interface::CallbackReturn::ERROR;
   }