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Implement new PoseBroadcaster controller #1311

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Oct 26, 2024
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Don't claim command interfaces
RobertWilbrandt committed Oct 9, 2024
commit 3c3d28641fee093e409da30b1f3ac85bc71acb89
4 changes: 3 additions & 1 deletion pose_broadcaster/src/pose_broadcaster.cpp
Original file line number Diff line number Diff line change
@@ -19,7 +19,9 @@ namespace pose_broadcaster
controller_interface::InterfaceConfiguration PoseBroadcaster::command_interface_configuration()
const
{
return controller_interface::InterfaceConfiguration{};
controller_interface::InterfaceConfiguration command_interfaces_config;
command_interfaces_config.type = controller_interface::interface_configuration_type::NONE;
return command_interfaces_config;
}

controller_interface::InterfaceConfiguration PoseBroadcaster::state_interface_configuration() const