1 files changed, 46 insertions, 0 deletions
diff --git a/fix-humble-ros2-control-api.patch b/fix-humble-ros2-control-api.patch
new file mode 100644
index 0000000..c1abded
--- /dev/null
+++ b/fix-humble-ros2-control-api.patch
@@ -0,0 +1,46 @@
+--- a/picknik_reset_fault_controller/src/picknik_reset_fault_controller.cpp
++++ b/picknik_reset_fault_controller/src/picknik_reset_fault_controller.cpp
+@@ -64,12 +64,8 @@
+ {
+   if (realtime_publisher_)
+   {
+-    auto state_op = state_interfaces_[StateInterfaces::IN_FAULT].get_optional();
+-    if (state_op.has_value())
+-    {
+-      state_.data = static_cast<bool>(state_op.value());
+-    }
+-    realtime_publisher_->try_publish(state_);
++    state_.data = static_cast<bool>(state_interfaces_[StateInterfaces::IN_FAULT].get_value());
++    realtime_publisher_->tryPublish(state_);
+   }
+ 
+   return controller_interface::return_type::OK;
+@@ -124,23 +120,15 @@
+ 
+   RCLCPP_INFO(get_node()->get_logger(), "Trying to reset faults on hardware controller.");
+ 
+-  while (command_interfaces_[CommandInterfaces::RESET_FAULT_ASYNC_SUCCESS].get_optional().value_or(
+-           ASYNC_WAITING) == ASYNC_WAITING)
++  while (command_interfaces_[CommandInterfaces::RESET_FAULT_ASYNC_SUCCESS].get_value() ==
++         ASYNC_WAITING)
+   {
+     // Asynchronous wait until the hardware interface has set the io value
+     std::this_thread::sleep_for(std::chrono::milliseconds(50));
+   }
+-  auto async_result_op =
+-    command_interfaces_[CommandInterfaces::RESET_FAULT_ASYNC_SUCCESS].get_optional();
+-  if (!async_result_op.has_value())
+-  {
+-    RCLCPP_ERROR(
+-      get_node()->get_logger(),
+-      "Failed to get result of fault reset command from hardware controller.");
+-    resp->success = false;
+-    return resp->success;
+-  }
+-  resp->success = static_cast<bool>(async_result_op.value());
++  double async_result =
++    command_interfaces_[CommandInterfaces::RESET_FAULT_ASYNC_SUCCESS].get_value();
++  resp->success = static_cast<bool>(async_result);
+ 
+   RCLCPP_INFO(
+     get_node()->get_logger(), "Resetting fault on hardware controller '%s'!",