Port to Jazzy.

diff --git a/src/dynamics_linearizing_controller.cpp b/src/dynamics_linearizing_controller.cpp
index 1ed47fa..a67861f 100644 (file)
--- a/src/dynamics_linearizing_controller.cpp
+++ b/src/dynamics_linearizing_controller.cpp
@@ -1,7 +1,7 @@
 /******************************************************************************
                      ROS 2 linearing_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
@@ -213,7 +213,8 @@ namespace effort_controllers
        CallbackReturn DynamicsLinearizingController::on_deactivate(const rclcpp_lifecycle::State &/*previous_state*/)
        {
                for(unsigned int i=0;i < joints_.size();i++)
-                       command_interfaces_[i].set_value(0);
+                       if(!command_interfaces_[i].set_value(0))
+                               RCLCPP_WARN(get_node()->get_logger(),"Failed to set value to command interface.");
 
                return CallbackReturn::SUCCESS;
        }
@@ -276,7 +277,8 @@ namespace effort_controllers
 
                // Apply torques
                for(unsigned int i=0;i < joints_.size();i++)
-                       command_interfaces_[i].set_value(torque[i]);
+                       if(!command_interfaces_[i].set_value(torque[i]))
+                               RCLCPP_WARN(get_node()->get_logger(),"Failed to set value to command interface.");
 
                if(rt_status_publisher_ && rt_status_publisher_->trylock())
                {

diff --git a/src/twist_mrac_linearizing_controller.cpp b/src/twist_mrac_linearizing_controller.cpp
index a0d1a2c..55eef20 100644 (file)
--- a/src/twist_mrac_linearizing_controller.cpp
+++ b/src/twist_mrac_linearizing_controller.cpp
@@ -1,7 +1,7 @@
 /******************************************************************************
                        ROS linearing_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
@@ -255,7 +255,8 @@ namespace effort_controllers
        CallbackReturn TwistMracLinearizingController::on_deactivate(const rclcpp_lifecycle::State &/*previous_state*/)
        {
                for(unsigned int i=0;i < joints_.size();i++)
-                       command_interfaces_[i].set_value(0);
+                       if(!command_interfaces_[i].set_value(0))
+                               RCLCPP_WARN(get_node()->get_logger(),"Failed to set value to command interface.");
 
                return CallbackReturn::SUCCESS;
        }
@@ -339,7 +340,8 @@ namespace effort_controllers
 
                // Apply torques
                for(unsigned int i=0;i < joints_.size();i++)
-                       command_interfaces_[i].set_value(torque[i]);
+                       if(!command_interfaces_[i].set_value(torque[i]))
+                               RCLCPP_WARN(get_node()->get_logger(),"Failed to set value to command interface.");
 
                Eigen::Matrix<double,2,4> W;
                if(adaptive_)