Skip to content

fix(controllers): revert ABI breaking change for control type #241

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
domire8 merged 7 commits into from
Apr 8, 2026
+4 −4
Merged

fix(controllers): revert ABI breaking change for control type #241

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
14d827c
Revert "feat(controllers): add assignments in BaseControllerInterface…
domire8 Apr 2, 2026
f15a5dc
Revert "feat(components): add assignment methods (c++) (#224)"
domire8 Apr 2, 2026
c3a7214
fix: revert ABI breaking change for control type
domire8 Apr 2, 2026
df1226c
docs: changelog
domire8 Apr 2, 2026
67d3c8d
fix
domire8 Apr 2, 2026
9b6868c
Merge branch 'main' into feat/revert-control-type
domire8 Apr 8, 2026
426cdb8
fix: typo
domire8 Apr 8, 2026
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
1 change: 1 addition & 0 deletions CHANGELOG.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -29,6 +29,7 @@ Release Versions:

- fix(controllers): safety check for predicate publisher access (#238)
- fix: remove ABI breaking assignment methods from C++ components and controllers (#240)
- fix(controllers): revert ABI breaking change for control type (#240)

## 5.4.0

Expand Down
1 change: 0 additions & 1 deletion source/modulo_controllers/include/modulo_controllers/RobotControllerInterface.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -133,7 +133,6 @@ class RobotControllerInterface : public ControllerInterface {

std::vector<std::string> joints_;///< The joint names provided by a parameter
std::string control_type_; ///< The high-level interface type (position, velocity, acceleration or effort)
bool control_type_fixed_; ///< If true, the control type cannot be changed after

bool robot_model_required_;///< If true, check that a robot model is available on configure
bool load_geometries_; ///< If true, load geometries from the URDF into the robot model
Expand Down
6 changes: 3 additions & 3 deletions source/modulo_controllers/src/RobotControllerInterface.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -21,7 +21,6 @@ RobotControllerInterface::RobotControllerInterface(
bool robot_model_required, const std::string& control_type, bool load_geometries)
: ControllerInterface(true),
control_type_(control_type),
control_type_fixed_(false),
robot_model_required_(robot_model_required),
load_geometries_(load_geometries),
new_joint_command_ready_(false),
Expand Down Expand Up @@ -145,7 +144,6 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn RobotC
for (const auto& joint : joints_) {
add_command_interface(joint, control_type_);
}
control_type_fixed_ = true;
}

auto ft_sensor_name = get_parameter("ft_sensor_name");
Expand Down Expand Up @@ -387,7 +385,9 @@ std::string RobotControllerInterface::get_control_type() const {
}

void RobotControllerInterface::set_control_type(const std::string& control_type) {
if (control_type_fixed_) {
// FIXME: this is a quick solution to prevent adding a new private attribute to the class.
// The joint_state is initialized shortly before the interfaces are added so it can be used as a proxy.
if (joint_state_.get_name() == hardware_name_) {
throw std::runtime_error("Control type is fixed and cannot be changed anymore");
}
if (!control_type.empty() && interface_map.count(control_type) == 0) {
Expand Down
Loading