Controller requiring robot_description parameter does not load anymore after switch to loading robot_description from topic about ros2_control

[christophfroehlich]

The URDF is already a member of the base class:

ros2_control/controller_interface/include/controller_interface/controller_interface_base.hpp

Line 253 in 20e01d8

std::string urdf_ = "";

[firesurfer]

Ah great to know. Do you also plan on backporting this to iron/humble ?

[christophfroehlich]

No, I don't think so because #1088 would break API (init is not a method used by users, but still at least breaks ABI for controllers.)

We will stop backporting such changes, and motivate users to build the latest rolling version for their distros from source.

[saikishor]

I agree with @christophfroehlich backporting it will break API and ABI. It's recommended from now on to use the rolling version to use the main features