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CommonplaceRobotics / iRC_ROS

ROS2 packages for the igus Robot Control
Apache License 2.0
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GPIOs in hardwareinterface are broken with recent releases #94

Closed cpr-fer closed 1 year ago

cpr-fer commented 1 year ago

Description A recent ros2_control PR introduced an additional check for hw interfaces: The GPIO interfaces defined in the urdf are expected to be provided with the same names by the hardware interface: This breaks the way it is done in this package right now, where the gpios are defined with the size parameter and then demuxed into <interface_name>_<index> command and state interfaces via the hardware interface.

Your environment

ROS Distro: Humble
OS Version: Ubuntu 22.04
Branch/Commit hash: humble #b32613b

To Reproduce

  1. Start any launch file containing GPIOs
  2. Throws what(): Wrong state or command interface configuration.` for whichever state and command interfaces are defined in the urdf

Expected behavior TODO

Actual behavior TODO