From b3aaa20d47dd6149baa80ac4222a75d24ddcf967 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Thu, 12 Jun 2025 04:13:31 -0300
Subject: [PATCH] Port to Jazzy.

---
 .../nonsmooth_backstep_controller.hpp                        |  6 +++---
 src/nonsmooth_backstep_controller.cpp                        | 12 +++++++-----
 2 files changed, 10 insertions(+), 8 deletions(-)

diff --git a/include/nonsmooth_backstep_controller/nonsmooth_backstep_controller.hpp b/include/nonsmooth_backstep_controller/nonsmooth_backstep_controller.hpp
index 629f788..35d19e2 100644
--- a/include/nonsmooth_backstep_controller/nonsmooth_backstep_controller.hpp
+++ b/include/nonsmooth_backstep_controller/nonsmooth_backstep_controller.hpp
@@ -1,7 +1,7 @@
 /******************************************************************************
 	            ROS 2 nonsmooth_backstep_controller Package
 		      Non-Smooth Backstepping 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 <nonsmooth_backstep_controller_msgs/msg/non_smooth_backstep_controller_status.hpp>
diff --git a/src/nonsmooth_backstep_controller.cpp b/src/nonsmooth_backstep_controller.cpp
index 82dec52..3d318dc 100644
--- a/src/nonsmooth_backstep_controller.cpp
+++ b/src/nonsmooth_backstep_controller.cpp
@@ -1,7 +1,7 @@
 /******************************************************************************
 	           ROS 2 nonsmooth_backstep_controller Package
 		      Non-Smooth Backstepping 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
@@ -211,7 +211,7 @@ namespace effort_controllers
 		eta_.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_;
@@ -225,7 +225,8 @@ namespace effort_controllers
 	CallbackReturn NonSmoothBackstepController::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(0.0))
+				RCLCPP_WARN(get_node()->get_logger(),"Failed to set value to command interface.");
 
 		return CallbackReturn::SUCCESS;
 	}
@@ -245,7 +246,7 @@ 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);
@@ -330,7 +331,8 @@ 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())
                 {
-- 
2.12.0