[Controller Interface] Add time and period paramters to update_refere…

…nce_from_subscribers() (#846) #API-break * Add Migration file for API breaking changes. Co-authored-by: Denis Štogl <[email protected]>
ros-controls · Mar 28, 2023 · fea2d8a · fea2d8a
1 parent c8cfa05
commit fea2d8a
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Showing 6 changed files with 21 additions and 5 deletions.
diff --git a/MIGRATION.md b/MIGRATION.md
@@ -0,0 +1,12 @@
+# Migration Notes
+
+API changes in ros2_control releases
+
+## ROS Rolling
+
+#### Controller Interface
+
+`update_reference_from_subscribers()` method got parameters and now has the following signature:
+```
+update_reference_from_subscribers(const rclcpp::Time & time, const rclcpp::Duration & /*period*/)
+```
diff --git a/controller_interface/include/controller_interface/chainable_controller_interface.hpp b/controller_interface/include/controller_interface/chainable_controller_interface.hpp
@@ -94,7 +94,8 @@ class ChainableControllerInterface : public ControllerInterfaceBase
    *
    * \returns return_type::OK if update is successfully, otherwise return_type::ERROR.
    */
-  virtual return_type update_reference_from_subscribers() = 0;
+  virtual return_type update_reference_from_subscribers(
+    const rclcpp::Time & time, const rclcpp::Duration & period) = 0;
 
   /// Execute calculations of the controller and update command interfaces.
   /**

diff --git a/controller_interface/src/chainable_controller_interface.cpp b/controller_interface/src/chainable_controller_interface.cpp
@@ -32,7 +32,7 @@ return_type ChainableControllerInterface::update(
 
   if (!is_in_chained_mode())
   {
-    ret = update_reference_from_subscribers();
+    ret = update_reference_from_subscribers(time, period);
     if (ret != return_type::OK)
     {
       return ret;

diff --git a/controller_interface/test/test_chainable_controller_interface.hpp b/controller_interface/test/test_chainable_controller_interface.hpp
@@ -86,7 +86,8 @@ class TestableChainableControllerInterface
     }
   }
 
-  controller_interface::return_type update_reference_from_subscribers() override
+  controller_interface::return_type update_reference_from_subscribers(
+    const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/) override
   {
     if (reference_interface_value_ == INTERFACE_VALUE_SUBSCRIBER_ERROR)
     {

diff --git a/controller_manager/test/test_chainable_controller/test_chainable_controller.cpp b/controller_manager/test/test_chainable_controller/test_chainable_controller.cpp
@@ -61,7 +61,8 @@ TestChainableController::state_interface_configuration() const
   }
 }
 
-controller_interface::return_type TestChainableController::update_reference_from_subscribers()
+controller_interface::return_type TestChainableController::update_reference_from_subscribers(
+  const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
 {
   for (size_t i = 0; i < reference_interfaces_.size(); ++i)
   {

diff --git a/controller_manager/test/test_chainable_controller/test_chainable_controller.hpp b/controller_manager/test/test_chainable_controller/test_chainable_controller.hpp
@@ -63,7 +63,8 @@ class TestChainableController : public controller_interface::ChainableController
   CONTROLLER_MANAGER_PUBLIC
   std::vector<hardware_interface::CommandInterface> on_export_reference_interfaces() override;
 
-  controller_interface::return_type update_reference_from_subscribers() override;
+  controller_interface::return_type update_reference_from_subscribers(
+    const rclcpp::Time & time, const rclcpp::Duration & period) override;
 
   controller_interface::return_type update_and_write_commands(
     const rclcpp::Time & time, const rclcpp::Duration & period) override;