[Steering controllers library] Reference interfaces are body twist (backport #1168) #1173
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henrygerardmoore
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Jul 19, 2024
…o `unsigned int` (ros-controls#1173) Without this there is a warning. For what I found the best way is to do static cast. ``` ros2_control/controller_interface/src/controller_interface_base.cpp:88:67: warning: conversion from ‘int64_t’{aka ‘long int’} to ‘unsigned int’ may change value [-Wconversion] 88 | update_rate_ = get_node()->get_parameter("update_rate").as_int(); ```
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Fixes #1167
I'm not sure if the intention of the author was to have position input, but as it is implemented we have a body twist input on reference interfaces (velocity, not position). This PR fixes this, without any attempt to deprecate the old behavior because it was just wrong.
Tests succeed on iron distro