Migration notes (backport)

doc/migration/Foxy.rst

@@ -0,0 +1,51 @@
+Foxy to Galactic
+^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
+
+hardware_interface
+**************************************
+Between Foxy and Galactic we made substantial changes to the interface of hardware components to enable management of their lifecycle.
+The following list shows a set of quick changes to port existing hardware components to Galactic:
+
+1. Rename ``configure`` to ``on_init`` and change return type to ``CallbackReturn``
+
+2. If using BaseInterface as base class then you should remove it. Specifically, change:
+
+  .. code-block:: c++
+
+    hardware_interface::BaseInterface<hardware_interface::[Actuator|Sensor|System]Interface>
+
+  to
+
+  .. code-block:: c++
+
+    hardware_interface::[Actuator|Sensor|System]Interface
+
+3. Remove include of headers ``base_interface.hpp`` and ``hardware_interface_status_values.hpp``
+
+4. Add include of header ``rclcpp_lifecycle/state.hpp`` although this may not be strictly necessary
+
+5. replace first three lines in ``on_init`` to
+
+  .. code-block:: c++
+
+    if (hardware_interface::[Actuator|Sensor|System]Interface::on_init(info) != CallbackReturn::SUCCESS)
+    {
+      return CallbackReturn::ERROR;
+    }
+
+
+6. Change last return of ``on_init`` to ``return CallbackReturn::SUCCESS;``
+
+7. Remove all lines with ``status_ = ...`` or ``status::...``
+
+8. Rename ``start()`` to ``on_activate(const rclcpp_lifecycle::State & previous_state)`` and
+   ``stop()`` to ``on_deactivate(const rclcpp_lifecycle::State & previous_state)``
+
+9. Change return type of ``on_activate`` and ``on_deactivate`` to ``CallbackReturn``
+
+10. Change last return of ``on_activate`` and ``on_deactivate`` to ``return CallbackReturn::SUCCESS;``
+
+11. If you have any ``return_type::ERROR`` in ``on_init``, ``on_activate``, or ``in_deactivate`` change to ``CallbackReturn::ERROR``
+
+12. If you get link errors with undefined refernences to symbols in ``rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface``, then add
+    ``rclcpp_lifecyle`` package dependency to ``CMakeLists.txt`` and ``package.xml``

hardware_interface/doc/hardware_components_userdoc.rst

@@ -27,53 +27,3 @@ If ``hardware_interface::return_type::ERROR`` is returned from ``read()`` or ``w
 Error handling follows the `node lifecycle <https://design.ros2.org/articles/node_lifecycle.html>`_.
 If successful ``CallbackReturn::SUCCESS`` is returned and hardware is again in ``UNCONFIGURED``  state, if any ``ERROR`` or ``FAILURE`` happens the hardware ends in ``FINALIZED`` state and can not be recovered.
 The only option is to reload the complete plugin, but there is currently no service for this in the Controller Manager.
-
-Migration from Foxy to newer versions
-^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-
-Between Foxy and Galactic we made substantial changes to the interface of hardware components to enable management of their lifecycle.
-The following list shows a set of quick changes to port existing hardware components to Galactic:
-
-1. Rename ``configure`` to ``on_init`` and change return type to ``CallbackReturn``
-
-2. If using BaseInterface as base class then you should remove it. Specifically, change:
-
-  .. code-block:: c++
-
-    hardware_interface::BaseInterface<hardware_interface::[Actuator|Sensor|System]Interface>
-
-  to
-
-  .. code-block:: c++
-
-    hardware_interface::[Actuator|Sensor|System]Interface
-
-3. Remove include of headers ``base_interface.hpp`` and ``hardware_interface_status_values.hpp``
-
-4. Add include of header ``rclcpp_lifecycle/state.hpp`` although this may not be strictly necessary
-
-5. replace first three lines in ``on_init`` to
-
-  .. code-block:: c++
-
-    if (hardware_interface::[Actuator|Sensor|System]Interface::on_init(info) != CallbackReturn::SUCCESS)
-    {
-      return CallbackReturn::ERROR;
-    }
-
-
-6. Change last return of ``on_init`` to ``return CallbackReturn::SUCCESS;``
-
-7. Remove all lines with ``status_ = ...`` or ``status::...``
-
-8. Rename ``start()`` to ``on_activate(const rclcpp_lifecycle::State & previous_state)`` and
-   ``stop()`` to ``on_deactivate(const rclcpp_lifecycle::State & previous_state)``
-
-9. Change return type of ``on_activate`` and ``on_deactivate`` to ``CallbackReturn``
-
-10. Change last return of ``on_activate`` and ``on_deactivate`` to ``return CallbackReturn::SUCCESS;``
-
-11. If you have any ``return_type::ERROR`` in ``on_init``, ``on_activate``, or ``in_deactivate`` change to ``CallbackReturn::ERROR``
-
-12. If you get link errors with undefined refernences to symbols in ``rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface``, then add
-    ``rclcpp_lifecyle`` package dependency to ``CMakeLists.txt`` and ``package.xml``