From 778ed130ee8ab951509c18cce57ae1e41bdbb45d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Denis=20=C5=A0togl?= <denis@stogl.de>
Date: Mon, 16 May 2022 20:56:42 +0200
Subject: [PATCH] Update to use  class.

---
 forward_command_controller/forward_command_plugin.xml       | 4 ++--
 .../forward_command_controller.hpp                          | 6 +++---
 .../multi_interface_forward_command_controller.hpp          | 6 +++---
 .../src/forward_command_controller.cpp                      | 2 +-
 .../src/multi_interface_forward_command_controller.cpp      | 2 +-
 5 files changed, 10 insertions(+), 10 deletions(-)

diff --git a/forward_command_controller/forward_command_plugin.xml b/forward_command_controller/forward_command_plugin.xml
index 3697404a34..47d661d603 100644
--- a/forward_command_controller/forward_command_plugin.xml
+++ b/forward_command_controller/forward_command_plugin.xml
@@ -48,14 +48,14 @@
 
   <class name="forward_command_controller/ChainableForwardCommandController"
          type="forward_command_controller::ChainableForwardCommandController"
-         base_class_type="controller_interface::ControllerInterface">
+         base_class_type="controller_interface::ChainableControllerInterface">
   <description>
     The forward command controller commands a group of joints in a given interface
   </description>
   </class>
   <class name="forward_command_controller/ChainableMultiInterfaceForwardCommandController"
          type="forward_command_controller::ChainableMultiInterfaceForwardCommandController"
-         base_class_type="controller_interface::ControllerInterface">
+         base_class_type="controller_interface::ChainableControllerInterface">
     <description>
       MultiInterfaceForwardController ros2_control controller.
     </description>
diff --git a/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp b/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp
index c8f8dcca23..d799be9245 100644
--- a/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp
+++ b/forward_command_controller/include/forward_command_controller/forward_command_controller.hpp
@@ -43,7 +43,7 @@ template <
     std::is_convertible<T *, forward_command_controller::ForwardControllersBase *>::value,
     T>::type * = nullptr,
   typename std::enable_if<
-    std::is_convertible<T *, controller_interface::ControllerInterface *>::value, T>::type * =
+    std::is_convertible<T *, controller_interface::ControllerInterfaceBase *>::value, T>::type * =
     nullptr>
 class BaseForwardCommandController : public T
 {
@@ -54,9 +54,9 @@ class BaseForwardCommandController : public T
 protected:
   void declare_parameters() override
   {
-    controller_interface::ControllerInterface::auto_declare<std::vector<std::string>>(
+    controller_interface::ControllerInterfaceBase::auto_declare<std::vector<std::string>>(
       "joints", std::vector<std::string>());
-    controller_interface::ControllerInterface::auto_declare<std::string>("interface_name", "");
+    controller_interface::ControllerInterfaceBase::auto_declare<std::string>("interface_name", "");
   };
 
   controller_interface::CallbackReturn read_parameters() override
diff --git a/forward_command_controller/include/forward_command_controller/multi_interface_forward_command_controller.hpp b/forward_command_controller/include/forward_command_controller/multi_interface_forward_command_controller.hpp
index 30cabfa6d6..273832e727 100644
--- a/forward_command_controller/include/forward_command_controller/multi_interface_forward_command_controller.hpp
+++ b/forward_command_controller/include/forward_command_controller/multi_interface_forward_command_controller.hpp
@@ -43,7 +43,7 @@ template <
     std::is_convertible<T *, forward_command_controller::ForwardControllersBase *>::value,
     T>::type * = nullptr,
   typename std::enable_if<
-    std::is_convertible<T *, controller_interface::ControllerInterface *>::value, T>::type * =
+    std::is_convertible<T *, controller_interface::ControllerInterfaceBase *>::value, T>::type * =
     nullptr>
 class BaseMultiInterfaceForwardCommandController : public T
 {
@@ -54,8 +54,8 @@ class BaseMultiInterfaceForwardCommandController : public T
 protected:
   void declare_parameters() override
   {
-    controller_interface::ControllerInterface::auto_declare<std::string>("joint", joint_name_);
-    controller_interface::ControllerInterface::auto_declare<std::vector<std::string>>(
+    controller_interface::ControllerInterfaceBase::auto_declare<std::string>("joint", joint_name_);
+    controller_interface::ControllerInterfaceBase::auto_declare<std::vector<std::string>>(
       "interface_names", interface_names_);
   };
 
diff --git a/forward_command_controller/src/forward_command_controller.cpp b/forward_command_controller/src/forward_command_controller.cpp
index 82319bbc65..55be87dfae 100644
--- a/forward_command_controller/src/forward_command_controller.cpp
+++ b/forward_command_controller/src/forward_command_controller.cpp
@@ -23,4 +23,4 @@ PLUGINLIB_EXPORT_CLASS(
   forward_command_controller::ForwardCommandController, controller_interface::ControllerInterface)
 PLUGINLIB_EXPORT_CLASS(
   forward_command_controller::ChainableForwardCommandController,
-  controller_interface::ControllerInterface)
+  controller_interface::ChainableControllerInterface)
diff --git a/forward_command_controller/src/multi_interface_forward_command_controller.cpp b/forward_command_controller/src/multi_interface_forward_command_controller.cpp
index a1020fcb17..e6749bda9e 100644
--- a/forward_command_controller/src/multi_interface_forward_command_controller.cpp
+++ b/forward_command_controller/src/multi_interface_forward_command_controller.cpp
@@ -24,4 +24,4 @@ PLUGINLIB_EXPORT_CLASS(
   controller_interface::ControllerInterface)
 PLUGINLIB_EXPORT_CLASS(
   forward_command_controller::ChainableMultiInterfaceForwardCommandController,
-  controller_interface::ControllerInterface)
+  controller_interface::ChainableControllerInterface)