Update ethercat_trigger_controllers to use PLUGINLIB_DECLARE_CLASS (ros ticket #4322)

[ahendrix]

The PLUGINLIB_REGISTER_CLASS macro is deprecated. Please switch over to PLUGINLIB_DECLARE_CLASS. Some examples are in robot_mechanism_controllers.

trac data:

• Owner: sglaser
• Reporter: sglaser
• Reported at: Thu May 13 13:40:09 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/4322

[ahendrix]

[blaise] It should be fixed in trunk r36699, though I have not actually tested on real hardware. Any chance you are using trunk controller code on pr2 and could check that the cameras still come up when you use trunk code?

Thanks, Blaise

[ahendrix]

[sglaser] I don't think that worked. Did you change the .xml plugins file too?

[ahendrix]

[blaise] Nope, how was I supposed to know to do that? Is there some documentation on the change I missed somewhere?

Does this mean that all the users of the controllers are also going to have to change to package_name/ControllerName? If that's the case then I should really have both the new and the old versions to allow a deprecation cycle on the users.

[ahendrix]

[sglaser] I haven't checked, but I would hope that there's documentation in pluginlib.

The controllers will change to package_name/ControllerName. The old name is deprecated, but the code is patched to make both of them work. No need to hack in backwards compatibility yourself--it should be automatic (if you're up-to-date in the pr2_mechanism stack).

[ahendrix]

[blaise] Should be fixed in r36723. I tested it against latest on pre.

It is indeed in the pluginlib documentation. For some reason I missed it in my search yesterday. Sorry if I was a bit touchy on this one.