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Update controller templates for new API #237

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Update controller templates for new API #237

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3f3cc2a
Update dummy_chainable_controller.cpp
destogl Oct 17, 2024
f7c4973
Update dummy_chainable_controller.hpp
destogl Oct 17, 2024
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3 changes: 2 additions & 1 deletion templates/ros2_control/controller/dummy_chainable_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -245,7 +245,8 @@ controller_interface::CallbackReturn DummyClassName::on_deactivate(
return controller_interface::CallbackReturn::SUCCESS;
}

controller_interface::return_type DummyClassName::update_reference_from_subscribers()
controller_interface::return_type DummyClassName::update_reference_from_subscribers(
const rclcpp::Time & /*time*/, const rclcpp::Duration & /*period*/)
{
auto current_ref = input_ref_.readFromRT();

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3 changes: 2 additions & 1 deletion templates/ros2_control/controller/dummy_package_namespace/dummy_chainable_controller.hpp
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Expand Up @@ -80,7 +80,8 @@ class DummyClassName : public controller_interface::ChainableControllerInterface
const rclcpp_lifecycle::State & previous_state) override;

TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
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;

TEMPLATES__ROS2_CONTROL__VISIBILITY_PUBLIC
controller_interface::return_type update_and_write_commands(
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