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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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23 changes: 23 additions & 0 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 @@ -201,6 +201,29 @@ controller_interface::CallbackReturn JointStateBroadcaster::on_activate(
return CallbackReturn::ERROR;
}

// Erase the interfaces that are not castable to double
std::vector<hardware_interface::LoanedStateInterface> state_interfaces_to_keep;
std::for_each(
state_interfaces_.begin(), state_interfaces_.end(),
[&state_interfaces_to_keep](hardware_interface::LoanedStateInterface & si)
{
if (si.is_castable_to_double())
{
state_interfaces_to_keep.push_back(std::move(si));
}
else
{
RCLCPP_ERROR(
rclcpp::get_logger("JointStateBroadcaster"),
"State interface '%s' is not castable to double. "
"It will not be used in JointStateBroadcaster.",
si.get_name().c_str());
}
});

state_interfaces_.clear();
state_interfaces_ = std::move(state_interfaces_to_keep);

init_auxiliary_data();
init_joint_state_msg();
init_dynamic_joint_state_msg();
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