Commit 9e39034f authored by Florent Lamiraux's avatar Florent Lamiraux
Browse files

Compatibility with ROS-noetic

parent e90be9a1
Pipeline #16988 failed
......@@ -168,11 +168,12 @@ bool RCSotController::initRequest(lhi::RobotHW *robot_hw,
bool RCSotController::initInterfaces(lhi::RobotHW *robot_hw, ros::NodeHandle &,
ros::NodeHandle &,
ClaimedResources &claimed_resources) {
using controller_interface::ControllerBase;
std::string lns;
lns = "hardware_interface";
// Check if construction finished cleanly
if (state_ != CONSTRUCTED) {
if (state_ != ControllerBase::ControllerState::CONSTRUCTED) {
ROS_ERROR("Cannot initialize this controller because it "
"failed to be constructed");
}
......@@ -319,7 +320,7 @@ bool RCSotController::initInterfaces(lhi::RobotHW *robot_hw, ros::NodeHandle &,
if (verbosity_level_ > 0)
ROS_INFO_STREAM("Initialization of sot-controller Ok !");
// success
state_ = INITIALIZED;
state_ = ControllerBase::ControllerState::INITIALIZED;
return true;
}
......
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