From d4c0ed5b10dcd0bfec5cfe558c906bfa809cbfa6 Mon Sep 17 00:00:00 2001
From: Vincenzo Di Pentima <DiPentima@fzi.de>
Date: Tue, 17 Dec 2024 16:53:57 +0000
Subject: [PATCH] Updated callback name and added comment for Command Intefaces

---
 .../include/ur_controllers/freedrive_mode_controller.hpp      | 4 ++--
 ur_controllers/src/freedrive_mode_controller.cpp              | 4 ++--
 2 files changed, 4 insertions(+), 4 deletions(-)

diff --git a/ur_controllers/include/ur_controllers/freedrive_mode_controller.hpp b/ur_controllers/include/ur_controllers/freedrive_mode_controller.hpp
index c3274595..04e90805 100644
--- a/ur_controllers/include/ur_controllers/freedrive_mode_controller.hpp
+++ b/ur_controllers/include/ur_controllers/freedrive_mode_controller.hpp
@@ -87,7 +87,7 @@ class FreedriveModeController : public controller_interface::ControllerInterface
   CallbackReturn on_init() override;
 
 private:
-  // Command interfaces
+  // Command interfaces: optional is used only to avoid adding reference initialization
   std::optional<std::reference_wrapper<hardware_interface::LoanedCommandInterface>> async_success_command_interface_;
   std::optional<std::reference_wrapper<hardware_interface::LoanedCommandInterface>> enable_command_interface_;
   std::optional<std::reference_wrapper<hardware_interface::LoanedCommandInterface>> abort_command_interface_;
@@ -96,7 +96,7 @@ class FreedriveModeController : public controller_interface::ControllerInterface
 
   rclcpp::TimerBase::SharedPtr freedrive_sub_timer_;  ///< Timer to check for timeout on input
   mutable std::chrono::seconds timeout_interval_;
-  void readFreedriveModeCmd(const std_msgs::msg::Bool::SharedPtr msg);
+  void freedrive_cmd_callback(const std_msgs::msg::Bool::SharedPtr msg);
 
   std::shared_ptr<freedrive_mode_controller::ParamListener> freedrive_param_listener_;
   freedrive_mode_controller::Params freedrive_params_;
diff --git a/ur_controllers/src/freedrive_mode_controller.cpp b/ur_controllers/src/freedrive_mode_controller.cpp
index a3074e24..e1ae016e 100644
--- a/ur_controllers/src/freedrive_mode_controller.cpp
+++ b/ur_controllers/src/freedrive_mode_controller.cpp
@@ -87,7 +87,7 @@ ur_controllers::FreedriveModeController::on_configure(const rclcpp_lifecycle::St
   // Subscriber definition
   enable_freedrive_mode_sub_ = get_node()->create_subscription<std_msgs::msg::Bool>(
       "~/enable_freedrive_mode", 10,
-      std::bind(&FreedriveModeController::readFreedriveModeCmd, this, std::placeholders::_1));
+      std::bind(&FreedriveModeController::freedrive_cmd_callback, this, std::placeholders::_1));
 
   timer_started_ = false;
 
@@ -230,7 +230,7 @@ controller_interface::return_type ur_controllers::FreedriveModeController::updat
   return controller_interface::return_type::OK;
 }
 
-void FreedriveModeController::readFreedriveModeCmd(const std_msgs::msg::Bool::SharedPtr msg)
+void FreedriveModeController::freedrive_cmd_callback(const std_msgs::msg::Bool::SharedPtr msg)
 {
   // Process the freedrive_mode command.
   if (get_node()->get_current_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE) {