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Handle cases of state interfaces with different data types #1783

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4a1364b
Handle cases of state interfaces with different data types
saikishor Jun 30, 2025
de8fa48
Revert "Handle cases of state interfaces with different data types"
saikishor Jul 1, 2025
8a7fb3a
cleanup complex non-castable interfaces on activate
saikishor Jul 1, 2025
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25 changes: 22 additions & 3 deletions joint_state_broadcaster/src/joint_state_broadcaster.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -414,10 +414,29 @@ controller_interface::return_type JointStateBroadcaster::update(
for (auto i = 0u; i < state_interfaces_.size(); ++i)
{
// no retries, just try to get the latest value once
const auto & opt = state_interfaces_[i].get_optional(0);
if (opt.has_value())
if (state_interfaces_[i].get_data_type() == hardware_interface::HandleDataType::DOUBLE)
{
*mapped_values_[i] = opt.value();
const auto & opt = state_interfaces_[i].get_optional(0);
if (opt.has_value())
{
*mapped_values_[i] = opt.value();
}
}
else if (state_interfaces_[i].get_data_type() == hardware_interface::HandleDataType::BOOL)
{
const auto & opt = state_interfaces_[i].get_optional<bool>(0);
if (opt.has_value())
{
*mapped_values_[i] = static_cast<double>(opt.value());
}
}
else
{
RCLCPP_DEBUG(
get_node()->get_logger(),
"Unsupported data type for state interface '%s'. "
"Only double and bool are supported.",
state_interfaces_[i].get_name().c_str());
}
}

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