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Update to new on_init API #36

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Merged
merged 1 commit into from
Nov 19, 2025
Merged

Update to new on_init API #36

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4 changes: 2 additions & 2 deletions include/mujoco_ros2_simulation/mujoco_system_interface.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,7 +60,8 @@ class MujocoSystemInterface : public hardware_interface::SystemInterface
MujocoSystemInterface();
~MujocoSystemInterface() override;

hardware_interface::CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override;
hardware_interface::CallbackReturn
on_init(const hardware_interface::HardwareComponentInterfaceParams& params) override;
std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
std::vector<hardware_interface::CommandInterface> export_command_interfaces() override;

Expand Down Expand Up @@ -153,7 +154,6 @@ class MujocoSystemInterface : public hardware_interface::SystemInterface
void publish_clock();

// System information
hardware_interface::HardwareInfo system_info_;
std::string model_path_;

// MuJoCo data pointers
Expand Down
16 changes: 8 additions & 8 deletions src/mujoco_system_interface.cpp
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Expand Up @@ -300,17 +300,17 @@ MujocoSystemInterface::~MujocoSystemInterface()
}
}

hardware_interface::CallbackReturn MujocoSystemInterface::on_init(const hardware_interface::HardwareInfo& info)
hardware_interface::CallbackReturn
MujocoSystemInterface::on_init(const hardware_interface::HardwareComponentInterfaceParams& params)
{
if (hardware_interface::SystemInterface::on_init(info) != hardware_interface::CallbackReturn::SUCCESS)
if (hardware_interface::SystemInterface::on_init(params) != hardware_interface::CallbackReturn::SUCCESS)
{
return hardware_interface::CallbackReturn::ERROR;
}
system_info_ = info;

// Helper function to get parameters in hardware info.
auto get_parameter = [&](const std::string& key) -> std::optional<std::string> {
if (auto it = info.hardware_parameters.find(key); it != info.hardware_parameters.end())
if (auto it = get_hardware_info().hardware_parameters.find(key); it != get_hardware_info().hardware_parameters.end())
{
return it->second;
}
Expand Down Expand Up @@ -407,8 +407,8 @@ hardware_interface::CallbackReturn MujocoSystemInterface::on_init(const hardware
}

// Pull joint and sensor information
register_joints(info);
register_sensors(info);
register_joints(get_hardware_info());
register_sensors(get_hardware_info());
set_initial_pose();

// Construct and start the ROS node spinning
Expand All @@ -423,12 +423,12 @@ hardware_interface::CallbackReturn MujocoSystemInterface::on_init(const hardware
// Ready cameras
RCLCPP_INFO(rclcpp::get_logger("MujocoSystemInterface"), "Initializing cameras...");
cameras_ = std::make_unique<MujocoCameras>(mujoco_node_, sim_mutex_, mj_data_, mj_model_, camera_publish_rate);
cameras_->register_cameras(info);
cameras_->register_cameras(get_hardware_info());

// Configure Lidar sensors
RCLCPP_INFO(rclcpp::get_logger("MujocoSystemInterface"), "Initializing lidar...");
lidar_sensors_ = std::make_unique<MujocoLidar>(mujoco_node_, sim_mutex_, mj_data_, mj_model_, lidar_publish_rate);
if (!lidar_sensors_->register_lidar(info))
if (!lidar_sensors_->register_lidar(get_hardware_info()))
{
RCLCPP_INFO(rclcpp::get_logger("MujocoSystemInterface"), "Failed to initialize lidar, exiting...");
return hardware_interface::CallbackReturn::FAILURE;
Expand Down
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