From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Mon, 5 May 2025 05:54:31 +0000 (-0300)
Subject: Change deprecated functions by current ones.
X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;p=pid_plus_gravity_controller.git

Change deprecated functions by current ones.
---

diff --git a/include/pid_plus_gravity_controller/pid_plus_gravity_controller.hpp b/include/pid_plus_gravity_controller/pid_plus_gravity_controller.hpp
index 18a4ef9..4d689f4 100644
--- a/include/pid_plus_gravity_controller/pid_plus_gravity_controller.hpp
+++ b/include/pid_plus_gravity_controller/pid_plus_gravity_controller.hpp
@@ -1,7 +1,7 @@
 /******************************************************************************
 		    ROS 2 pid_plus_gravity_controller Package
                         PID+Gravity Compensation Controller
-          Copyright (C) 2017..2022 Walter Fetter Lages <w.fetter@ieee.org>
+          Copyright (C) 2017..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
@@ -32,7 +32,7 @@
 #include <kdl_parser/kdl_parser.hpp>
 #include <kdl/chaindynparam.hpp>
 
-#include <realtime_tools/realtime_buffer.h>
+#include <realtime_tools/realtime_buffer.hpp>
 
 #include <pid_plus_gravity_controller/visibility_control.h>
 
diff --git a/src/pid_plus_gravity_controller.cpp b/src/pid_plus_gravity_controller.cpp
index 02580ab..eb4a4ba 100644
--- a/src/pid_plus_gravity_controller.cpp
+++ b/src/pid_plus_gravity_controller.cpp
@@ -1,7 +1,7 @@
 /******************************************************************************
 	             ROS 2 pid_plus_gravity_controller Package
                         PID+Gravity Compensation Controller
-          Copyright (C) 2017..2024 Walter Fetter Lages <w.fetter@ieee.org>
+          Copyright (C) 2017..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
@@ -84,7 +84,7 @@ namespace effort_controllers
 			for(const auto &joint : jointNames_)
 			{
 				auto pid=std::make_shared<control_toolbox::PidROS>(get_node(),joint);
-				pid->initPid();
+				pid->initialize_from_ros_parameters();
 				pid_.push_back(pid);
 			}
 		}
@@ -166,7 +166,7 @@ namespace effort_controllers
 	controller_interface::CallbackReturn PidPlusGravityController::on_activate(const rclcpp_lifecycle::State & /*previous_state*/)
 	{
 		for(unsigned int i=0;i < nJoints_;i++)
-			q_(i)=state_interfaces_[i].get_value();
+			q_(i)=state_interfaces_[i].get_optional().value_or(q_(i));
                 qr_=q_;
 
                 struct sched_param param;
@@ -182,7 +182,7 @@ namespace effort_controllers
 	controller_interface::CallbackReturn PidPlusGravityController::on_deactivate(const rclcpp_lifecycle::State &/*previous_state*/)
 	{
 		for(unsigned int i=0;i < nJoints_;i++)
-			q_(i)=state_interfaces_[i].get_value();
+			q_(i)=state_interfaces_[i].get_optional().value_or(q_(i));
 
 		if(chainParam_->JntToGravity(q_,gravity_) < 0)
 		        RCLCPP_ERROR(get_node()->get_logger(),"KDL dynamics solver failed.");
@@ -203,13 +203,13 @@ namespace effort_controllers
 				qr_.data=Eigen::VectorXd::Map((*referencePoint)->positions.data(),nJoints_);
 
 		for(unsigned int i=0;i < nJoints_;i++)
-			q_(i)=state_interfaces_[i].get_value();
+			q_(i)=state_interfaces_[i].get_optional().value_or(q_(i));
 
 		if(chainParam_->JntToGravity(q_,gravity_) < 0)
 		        RCLCPP_ERROR(get_node()->get_logger(),"KDL dynamics solver failed.");
 
 		for(unsigned int i=0;i < nJoints_;i++)
-		        if(!command_interfaces_[i].set_value(gravity_(i)+pid_[i]->computeCommand(qr_(i)-q_(i),period)))
+		        if(!command_interfaces_[i].set_value(gravity_(i)+pid_[i]->compute_command(qr_(i)-q_(i),period)))
 		        	RCLCPP_ERROR(get_node()->get_logger(),"Can't set command value.");
 
 		return controller_interface::return_type::OK;