rename the macro to REGISTER_ROS2_CONTROL_INTROSPECTION

Author: saikishor

example_12/controllers/src/passthrough_controller.cpp

@@ -87,7 +87,7 @@ controller_interface::CallbackReturn PassthroughController::on_configure(
 
   for (size_t i = 0; i < reference_interface_names_.size(); i++)
   {
-    REGISTER_DEFAULT_INTROSPECTION(reference_interface_names_[i], &reference_interfaces_[i]);
+    REGISTER_ROS2_CONTROL_INTROSPECTION(reference_interface_names_[i], &reference_interfaces_[i]);
   }
 
   return controller_interface::CallbackReturn::SUCCESS;

example_12/hardware/rrbot.cpp

@@ -81,13 +81,13 @@ hardware_interface::CallbackReturn RRBotSystemPositionOnlyHardware::on_init(
     }
   }
 
-  REGISTER_DEFAULT_INTROSPECTION("hw_start_sec", &hw_start_sec_);
-  REGISTER_DEFAULT_INTROSPECTION("hw_stop_sec", &hw_stop_sec_);
-  REGISTER_DEFAULT_INTROSPECTION("hw_slowdown", &hw_slowdown_);
+  REGISTER_ROS2_CONTROL_INTROSPECTION("hw_start_sec", &hw_start_sec_);
+  REGISTER_ROS2_CONTROL_INTROSPECTION("hw_stop_sec", &hw_stop_sec_);
+  REGISTER_ROS2_CONTROL_INTROSPECTION("hw_slowdown", &hw_slowdown_);
   for (size_t i = 0; i < info_.joints.size(); ++i)
   {
-    REGISTER_DEFAULT_INTROSPECTION(info_.joints[i].name + ".hw_state", &hw_states_[i]);
-    REGISTER_DEFAULT_INTROSPECTION(info_.joints[i].name + ".hw_command", &hw_commands_[i]);
+    REGISTER_ROS2_CONTROL_INTROSPECTION(info_.joints[i].name + ".hw_state", &hw_states_[i]);
+    REGISTER_ROS2_CONTROL_INTROSPECTION(info_.joints[i].name + ".hw_command", &hw_commands_[i]);
   }
 
   return hardware_interface::CallbackReturn::SUCCESS;

example_4/hardware/rrbot_system_with_sensor.cpp

@@ -85,18 +85,18 @@ hardware_interface::CallbackReturn RRBotSystemWithSensorHardware::on_init(
     }
   }
 
-  REGISTER_DEFAULT_INTROSPECTION("hw_start_sec", &hw_start_sec_);
-  REGISTER_DEFAULT_INTROSPECTION("hw_stop_sec", &hw_stop_sec_);
-  REGISTER_DEFAULT_INTROSPECTION("hw_slowdown", &hw_slowdown_);
-  REGISTER_DEFAULT_INTROSPECTION("hw_sensor_change", &hw_sensor_change_);
+  REGISTER_ROS2_CONTROL_INTROSPECTION("hw_start_sec", &hw_start_sec_);
+  REGISTER_ROS2_CONTROL_INTROSPECTION("hw_stop_sec", &hw_stop_sec_);
+  REGISTER_ROS2_CONTROL_INTROSPECTION("hw_slowdown", &hw_slowdown_);
+  REGISTER_ROS2_CONTROL_INTROSPECTION("hw_sensor_change", &hw_sensor_change_);
   for (size_t i = 0; i < info_.joints.size(); ++i)
   {
-    REGISTER_DEFAULT_INTROSPECTION(info_.joints[i].name + ".hw_state", &hw_joint_states_[i]);
-    REGISTER_DEFAULT_INTROSPECTION(info_.joints[i].name + ".hw_command", &hw_joint_commands_[i]);
+    REGISTER_ROS2_CONTROL_INTROSPECTION(info_.joints[i].name + ".hw_state", &hw_joint_states_[i]);
+    REGISTER_ROS2_CONTROL_INTROSPECTION(info_.joints[i].name + ".hw_command", &hw_joint_commands_[i]);
   }
   for (size_t i = 0; i < info_.sensors[0].state_interfaces.size(); ++i)
   {
-    REGISTER_DEFAULT_INTROSPECTION(
+    REGISTER_ROS2_CONTROL_INTROSPECTION(
       info_.sensors[0].name + "." + info_.sensors[0].state_interfaces[i].name,
       &hw_sensor_states_[i]);
   }