Add missing virtual keywords to SystemInterface methods #1888
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saikishor
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Nov 26, 2024
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You are right! Thanks for fixing it
TakashiSato
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This PR fixes an issue where the
on_export_state_interfacesandon_export_command_interfacesfunctions in theSystemInterfaceclass were missing the virtual keyword, even though they should be overrideable according to the migration.rst : Custom export of Command-/StateInterfaces.In contrast, the
ActuatorInterfaceandSensorInterfaceclasses already have the virtual keyword for these functions, as shown in the following references:ros2_control/hardware_interface/include/hardware_interface/actuator_interface.hpp
Line 176 in 41d7393
ros2_control/hardware_interface/include/hardware_interface/actuator_interface.hpp
Line 253 in 41d7393
ros2_control/hardware_interface/include/hardware_interface/sensor_interface.hpp
Line 174 in 41d7393
This PR ensures consistency across these interfaces and aligns with the intended design outlined in the documentation.
Let me know if you need additional information or adjustments!