Change deprecated functions by current ones.

diff --git a/include/linearizing_controllers/dynamics_linearizing_controller.hpp b/include/linearizing_controllers/dynamics_linearizing_controller.hpp
index 2696221..e26c579 100644 (file)
--- a/include/linearizing_controllers/dynamics_linearizing_controller.hpp
+++ b/include/linearizing_controllers/dynamics_linearizing_controller.hpp
@@ -1,7 +1,7 @@
 /******************************************************************************
                    ROS 2 linearizing_controllers Package
                      Dynamics Linearizing Controller
-          Copyright (C) 2014..2022 Walter Fetter Lages <w.fetter@ieee.org>
+          Copyright (C) 2014..2025 Walter Fetter Lages <w.fetter@ieee.org>
 
         This program is free software: you can redistribute it and/or modify
         it under the terms of the GNU General Public License as published by
@@ -28,8 +28,8 @@
 #include <tf2_msgs/msg/tf_message.hpp>
 
 #include <controller_interface/controller_interface.hpp>
-#include <realtime_tools/realtime_buffer.h>
-#include <realtime_tools/realtime_publisher.h>
+#include <realtime_tools/realtime_buffer.hpp>
+#include <realtime_tools/realtime_publisher.hpp>
 
 #include <arc_odometry/diff_odometry.hpp>
 #include <linearizing_controllers_msgs/msg/dynamics_linearizing_controller_status.hpp>

diff --git a/include/linearizing_controllers/twist_mrac_linearizing_controller.hpp b/include/linearizing_controllers/twist_mrac_linearizing_controller.hpp
index f0a7af7..20e52fa 100644 (file)
--- a/include/linearizing_controllers/twist_mrac_linearizing_controller.hpp
+++ b/include/linearizing_controllers/twist_mrac_linearizing_controller.hpp
@@ -1,7 +1,7 @@
 /******************************************************************************
                    ROS 2 linearizing_controllers Package
                     Twist MR(A)C Linearizing Controller
-          Copyright (C) 2018..2022 Walter Fetter Lages <w.fetter@ieee.org>
+          Copyright (C) 2018..2025 Walter Fetter Lages <w.fetter@ieee.org>
 
         This program is free software: you can redistribute it and/or modify
         it under the terms of the GNU General Public License as published by
@@ -28,8 +28,8 @@
 #include <tf2_msgs/msg//tf_message.hpp>
 
 #include <controller_interface/controller_interface.hpp>
-#include <realtime_tools/realtime_buffer.h>
-#include <realtime_tools/realtime_publisher.h>
+#include <realtime_tools/realtime_buffer.hpp>
+#include <realtime_tools/realtime_publisher.hpp>
 
 #include <arc_odometry/diff_odometry.hpp>
 #include <linearizing_controllers_msgs/msg/twist_mrac_linearizing_controller_status.hpp>

diff --git a/src/dynamics_linearizing_controller.cpp b/src/dynamics_linearizing_controller.cpp
index a67861f..8066cf1 100644 (file)
--- a/src/dynamics_linearizing_controller.cpp
+++ b/src/dynamics_linearizing_controller.cpp
@@ -198,7 +198,7 @@ namespace effort_controllers
                v_.setZero();
                lastSamplingTime_=get_node()->get_clock()->now();
                for(unsigned int i=0;i < joints_.size();i++)
-                       phi_[i]=state_interfaces_[i].get_value();
+                       phi_[i]=state_interfaces_[i].get_optional().value_or(phi_[i]);
 
                struct sched_param param;
                param.sched_priority=priority_;
@@ -233,7 +233,7 @@ namespace effort_controllers
                // phi[1] is the right wheel angular displacement
                Eigen::Vector2d deltaPhi=-phi_;
                for(unsigned int i=0;i < joints_.size();i++)
-                       phi_[i]=state_interfaces_[i].get_value();
+                       phi_[i]=state_interfaces_[i].get_optional().value_or(phi_[i]);
                deltaPhi+=phi_;
 
                odom_.update(deltaPhi,dt);

diff --git a/src/twist_mrac_linearizing_controller.cpp b/src/twist_mrac_linearizing_controller.cpp
index 55eef20..7c91cb6 100644 (file)
--- a/src/twist_mrac_linearizing_controller.cpp
+++ b/src/twist_mrac_linearizing_controller.cpp
@@ -220,7 +220,7 @@ namespace effort_controllers
                uModel_.setZero();
                lastSamplingTime_=get_node()->get_clock()->now();
                for(unsigned int i=0;i < joints_.size();i++)
-                       phi_[i]=state_interfaces_[i].get_value();
+                       phi_[i]=state_interfaces_[i].get_optional().value_or(phi_[i]);
 
                if(adaptive_)
                {                       
@@ -275,7 +275,7 @@ namespace effort_controllers
                // phi[1] is the right wheel angular displacement
                Eigen::Vector2d deltaPhi=-phi_;
                for(unsigned int i=0;i < joints_.size();i++)
-                       phi_[i]=state_interfaces_[i].get_value();
+                       phi_[i]=state_interfaces_[i].get_optional().value_or(phi_[i]);
                deltaPhi+=phi_;
 
                odom_.update(deltaPhi,dt);