[yishinli]

Summary

abb_ros2 no longer builds on current ROS 2 (Rolling / Lyrical):

 # abb_hardware_interface (same pattern in abb_rws_client and the abb_bringup test)
-ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  abb_egm_rws_managers::abb_egm_rws_managers
+  hardware_interface::hardware_interface
+  pluginlib::pluginlib
+  rclcpp::rclcpp
+  rclcpp_lifecycle::rclcpp_lifecycle
+)

-CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override;
+CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams& params) override;

abb_rws_client links abb_hardware_interface via abb_hardware_interface_LIBRARIES / _INCLUDE_DIRS, since that package only exports old-style variables.

Evidence

Before (ROS 2 Lyrical, Ubuntu 26.04):

CMake Error at CMakeLists.txt:18 (ament_target_dependencies):
  Unknown CMake command "ament_target_dependencies".

abb_hardware_interface.hpp:50:18: error: '... ABBSystemHardware::on_init(const hardware_interface::HardwareInfo&)'
  marked 'override', but does not override

After: the full workspace from abb.repos builds with colcon (together with ros-industrial/abb_libegm#172 and ros-industrial/abb_egm_rws_managers#16 for Boost 1.90). An IRB 4600 with use_fake_hardware:=true, joint_trajectory_controller and MoveIt 2 plans and executes OMPL and Pilz LIN trajectories.

The Build and Test workflow on rolling currently stops before building, in setup_rosdep (E: Unable to locate package ros-rolling-ros-environment), so CI on this PR will fail the same way until that is sorted out. Since abb.repos points abb_libegm and abb_egm_rws_managers at master, Rolling CI will also need ros-industrial/abb_libegm#172 and ros-industrial/abb_egm_rws_managers#16 to be merged.

Merge Danger

Door: two-way

Blast Radius: build-only

target_link_libraries with these targets works on all ROS 2 distros, and on_init(const HardwareComponentInterfaceParams&) is available in ros2_control since 4.34.0 (Jazzy) and 5.3.0 (Kilted), where the HardwareInfo overload is deprecated. Building this branch against an older ros2_control release would fail.

🤖 Generated with Claude Code

[mergify]

Tick the box to add this pull request to the merge queue (same as @mergifyio queue).

• Queue this pull request