From 198a1e7c2ad7f3d9b768149e0162cabeee324d5d Mon Sep 17 00:00:00 2001 From: gs8173 Date: Tue, 16 Dec 2025 11:11:47 +0000 Subject: [PATCH 1/4] first draft of citation file --- CITATION.cff | 14 ++++++++++++++ 1 file changed, 14 insertions(+) create mode 100644 CITATION.cff diff --git a/CITATION.cff b/CITATION.cff new file mode 100644 index 0000000..d717e29 --- /dev/null +++ b/CITATION.cff @@ -0,0 +1,14 @@ +cff-version: 1.2.0 +message: "If you use this software, please cite it as below." +type: software +title: "UKAEA ROS 2 Driver for Comau CRCOpen" +authors: + - family-names: "Slater" + given-names: "Adam" + - family-names: "Saleem" + given-names: "Abdullah" +version: 1.0.0 +date-released: 2025-10-14 +url: "https://github.com/ukaea/CRCOpenROS2Driver" +license: "Apache-2.0" +doi: "10.5281/zenodo.TBD" \ No newline at end of file From ac94444219cb4cc4c046af84f105c81b3c9023ba Mon Sep 17 00:00:00 2001 From: gs8173 Date: Wed, 17 Dec 2025 20:42:06 +0000 Subject: [PATCH 2/4] updated DOI --- CITATION.cff | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/CITATION.cff b/CITATION.cff index d717e29..8226faf 100644 --- a/CITATION.cff +++ b/CITATION.cff @@ -7,8 +7,8 @@ authors: given-names: "Adam" - family-names: "Saleem" given-names: "Abdullah" -version: 1.0.0 -date-released: 2025-10-14 +version: 0.5.0 +date-released: 2025-10-17 url: "https://github.com/ukaea/CRCOpenROS2Driver" license: "Apache-2.0" doi: "10.5281/zenodo.TBD" \ No newline at end of file From 291799a7ef25a507772769b16d408111979183bc Mon Sep 17 00:00:00 2001 From: gs8173 Date: Wed, 17 Dec 2025 21:32:35 +0000 Subject: [PATCH 3/4] Update CRCOpenHardware on_init declaration to use HardwareComponentInterfaceParams instead of HardwareInfo. --- crcopen_hardware/include/crcopen_hardware.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/crcopen_hardware/include/crcopen_hardware.hpp b/crcopen_hardware/include/crcopen_hardware.hpp index 844402e..c2ef821 100644 --- a/crcopen_hardware/include/crcopen_hardware.hpp +++ b/crcopen_hardware/include/crcopen_hardware.hpp @@ -88,7 +88,7 @@ class CRCOpenHardware * @return SUCCESS if initialized; FAILURE if parameters are missing/invalid; ERROR otherwise. * @post UNCONFIGURED state on success. */ - hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo & info) override; + hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams & params) override; /** * @brief Export per-joint state interfaces. From c6f330cdd7a7e276beae8266bf4b075ffd94c280 Mon Sep 17 00:00:00 2001 From: gs8173 Date: Wed, 17 Dec 2025 21:37:00 +0000 Subject: [PATCH 4/4] Update CRCOpenHardware::on_init implementation to take HardwareComponentInterfaceParams and pass params to SystemInterface::on_init to match the updated ros2_control hardware interface API. --- crcopen_hardware/src/crcopen_hardware.cpp | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/crcopen_hardware/src/crcopen_hardware.cpp b/crcopen_hardware/src/crcopen_hardware.cpp index 77b5d24..d32de29 100644 --- a/crcopen_hardware/src/crcopen_hardware.cpp +++ b/crcopen_hardware/src/crcopen_hardware.cpp @@ -112,10 +112,11 @@ namespace crcopen_hardware return; } - hardware_interface::CallbackReturn CRCOpenHardware::on_init(const hardware_interface::HardwareInfo &info) + hardware_interface::CallbackReturn CRCOpenHardware::on_init(const hardware_interface::HardwareComponentInterfaceParams & params) { + RCLCPP_INFO(rclcpp::get_logger(LOG_NAME), "on_init"); - if (hardware_interface::SystemInterface::on_init(info) != hardware_interface::CallbackReturn::SUCCESS) + if (hardware_interface::SystemInterface::on_init(params) != hardware_interface::CallbackReturn::SUCCESS) { return hardware_interface::CallbackReturn::ERROR; }