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rolling: webots_ros2_control and mujoco_ros2_control on ros2_control 6.12 - #158
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…6.12 ros2_control 6.12 removed the pointer-based state and command interfaces, so both hardware plugins stopped compiling on rolling (the rebuild after #99 stopped there on linux-64 and linux-aarch64). - mujoco_ros2_control 0.1.3: upstream's port, ros-controls/mujoco_ros2_control 4859415d ("Migrate to the new Command/StateInterface API"), backported. - webots_ros2_control 2025.0.1 (no upstream port yet): the same pattern. on_export_*_interfaces() creates handles for the joints' values, read() pushes the states into them and write() pulls the commands out first. Built locally, together with all of rolling's remaining packages: linux-64 on an x86_64 machine (362 recipes), linux-aarch64 in a VM. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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ros2_control 6.12 removed the pointer-based state and command interfaces, so both hardware plugins stopped compiling on rolling. The rebuild after #99 stopped there on linux-64 (
webots_ros2_control) and linux-aarch64 (mujoco_ros2_control).distros/rolling/patch/ros2-mujoco-ros2-control.patch).distros/rolling/patch/ros2-webots-ros2-control.patch, on top of the existing rolling changes).on_export_*_interfaces()creates handles for the joints' values,read()pushes the states into them, andwrite()pulls the commands out first. It builds, but I haven't run it in Webots.Built locally, against rolling's
hardware_interface6.12.0 (_32):mujoco_ros2_control(with its tests) and the rest of rolling's remaining recipes. One package ran out of the VM's memory, which isn't a build error.build:none: the build branches build it after the merge.🤖 Generated with Claude Code