Merge pull request #144 from sviatoslav-zapolskyi/joint_state_publish…

…er_gui

Add joint_state_publisher_gui pkg for osx arm64

patch/ros-humble-controller-manager.patch

@@ -0,0 +1,56 @@
+diff --git a/hardware_interface/include/hardware_interface/resource_manager.hpp b/hardware_interface/include/hardware_interface/resource_manager.hpp
+index 01c837259f..e94bf5f6ab 100644
+--- a/hardware_interface/include/hardware_interface/resource_manager.hpp
++++ b/hardware_interface/include/hardware_interface/resource_manager.hpp
+@@ -387,6 +387,18 @@ class HARDWARE_INTERFACE_PUBLIC ResourceManager
+    */
+   HardwareReadWriteStatus write(const rclcpp::Time & time, const rclcpp::Duration & period);
+
++  /// Activates all available hardware components in the system.
++  /**
++   * All available hardware components int the ros2_control framework are activated.
++   * This is used to preserve default behavior from previous versions where all hardware components
++   * are activated per default.
++   */
++  [[deprecated(
++    "The method 'activate_all_components' is deprecated. "
++    "Use the new 'hardware_components_initial_state' parameter structure to setup the "
++    "components")]] void
++  activate_all_components();
++
+   /// Checks whether a command interface is registered under the given key.
+   /**
+    * \param[in] key string identifying the interface to check.
+diff --git a/hardware_interface/src/resource_manager.cpp b/hardware_interface/src/resource_manager.cpp
+index 2c6fd8a305..e585571d35 100644
+--- a/hardware_interface/src/resource_manager.cpp
++++ b/hardware_interface/src/resource_manager.cpp
+@@ -1387,6 +1387,28 @@ void ResourceManager::validate_storage(
+     throw std::runtime_error(err_msg);
+   }
+ }
++
++// Temporary method to keep old interface and reduce framework changes in the PRs
++void ResourceManager::activate_all_components()
++{
++  using lifecycle_msgs::msg::State;
++  rclcpp_lifecycle::State active_state(
++    State::PRIMARY_STATE_ACTIVE, hardware_interface::lifecycle_state_names::ACTIVE);
++
++  for (auto & component : resource_storage_->actuators_)
++  {
++    set_component_state(component.get_name(), active_state);
++  }
++  for (auto & component : resource_storage_->sensors_)
++  {
++    set_component_state(component.get_name(), active_state);
++  }
++  for (auto & component : resource_storage_->systems_)
++  {
++    set_component_state(component.get_name(), active_state);
++  }
++}
++
+ // END: private methods
+
+ }  // namespace hardware_interface

vinca_osx_arm64.yaml

@@ -55,6 +55,7 @@ packages_select_by_deps:
 
   - joint-state-broadcaster
   - joint-state-publisher
+  - joint_state_publisher_gui
   - joint-trajectory-controller
   - xacro
   - robot-localization