From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Mon, 5 May 2025 06:03:35 +0000 (-0300)
Subject: Change deprecated functions by current ones.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;p=computed_torque_controller.git

Change deprecated functions by current ones.
---

diff --git a/include/computed_torque_controller/computed_torque_controller.hpp b/include/computed_torque_controller/computed_torque_controller.hpp
index 7f7643c..95c7de8 100644
--- a/include/computed_torque_controller/computed_torque_controller.hpp
+++ b/include/computed_torque_controller/computed_torque_controller.hpp
@@ -1,7 +1,7 @@
 /******************************************************************************
 	               ROS 2 computed_torque_controller Package
                            Computed Torque  Controller
-          Copyright (C) 2013..2022 Walter Fetter Lages <w.fetter@ieee.org>
+          Copyright (C) 2013..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
@@ -30,7 +30,7 @@
 #include <kdl_parser/kdl_parser.hpp>
 #include <kdl/chainidsolver_recursive_newton_euler.hpp>
 
-#include <realtime_tools/realtime_buffer.h>
+#include <realtime_tools/realtime_buffer.hpp>
 
 #include <computed_torque_controller/visibility_control.h>
 
diff --git a/src/computed_torque_controller.cpp b/src/computed_torque_controller.cpp
index 854e6b3..5bd0790 100644
--- a/src/computed_torque_controller.cpp
+++ b/src/computed_torque_controller.cpp
@@ -1,7 +1,7 @@
 /******************************************************************************
 		    ROS 2 computed_torque_controller Package
                            Computed Torque  Controller
-          Copyright (C) 2013..2024 Walter Fetter Lages <w.fetter@ieee.org>
+          Copyright (C) 2013..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
@@ -176,8 +176,8 @@ namespace effort_controllers
 	{
 		for(unsigned int i=0;i < nJoints_;i++)
 		{
-			q_(i)=state_interfaces_[2*i].get_value();
-			dq_(i)=state_interfaces_[2*i+1].get_value();
+			q_(i)=state_interfaces_[2*i].get_optional().value_or(q_(i));
+			dq_(i)=state_interfaces_[2*i+1].get_optional().value_or(dq_(i));
 		}
 		qr_=q_;
 		dqr_=dq_;
@@ -196,7 +196,7 @@ namespace effort_controllers
 	controller_interface::CallbackReturn ComputedTorqueController::on_deactivate(const rclcpp_lifecycle::State &/*previous_state*/)
 	{
 		for(unsigned int i=0;i < nJoints_;i++)
-			q_(i)=state_interfaces_[2*i].get_value();
+			q_(i)=state_interfaces_[2*i].get_optional().value_or(q_(i));
 		SetToZero(dqr_);
 		SetToZero(ddqr_);
 
@@ -229,8 +229,8 @@ namespace effort_controllers
 
 		for(unsigned int i=0;i < nJoints_;i++)
 		{
-			q_(i)=state_interfaces_[2*i].get_value();
-			dq_(i)=state_interfaces_[2*i+1].get_value();
+			q_(i)=state_interfaces_[2*i].get_optional().value_or(q_(i));
+			dq_(i)=state_interfaces_[2*i+1].get_optional().value_or(dq_(i));
 		}
 		for(auto &f : fext_) f.Zero();