From a56d1a25e21dc5665d6cf7736277b89b16396f37 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Mon, 5 May 2025 03:11:02 -0300
Subject: [PATCH] Change deprecated functions by current ones.

---
 include/linearizing_controllers/dynamics_linearizing_controller.hpp | 6 +++---
 .../linearizing_controllers/twist_mrac_linearizing_controller.hpp   | 6 +++---
 src/dynamics_linearizing_controller.cpp                             | 4 ++--
 src/twist_mrac_linearizing_controller.cpp                           | 4 ++--
 4 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/include/linearizing_controllers/dynamics_linearizing_controller.hpp b/include/linearizing_controllers/dynamics_linearizing_controller.hpp
index 2696221..e26c579 100644
--- 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
--- 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
--- 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
--- 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);
-- 
2.12.0