From 84adf5a24ad0dd67406b02b785c90f0e5b8f1e1b Mon Sep 17 00:00:00 2001
From: Kronk Bot <4156439+kronk-bot[bot]@users.noreply.github.com>
Date: Tue, 8 Sep 2026 22:00:23 +0000
Subject: [PATCH] fix: support current ROS distributions

---
 .github/workflows/build_and_test.yaml         | 20 +++++++++++++------
 CMakeLists.txt                                | 12 ++++++++---
 .../topic_based_system.hpp                    |  9 +++++++++
 src/topic_based_system.cpp                    |  6 ++++++
 4 files changed, 38 insertions(+), 9 deletions(-)

diff --git a/.github/workflows/build_and_test.yaml b/.github/workflows/build_and_test.yaml
index c08035a..71a3b57 100644
--- a/.github/workflows/build_and_test.yaml
+++ b/.github/workflows/build_and_test.yaml
@@ -3,6 +3,9 @@
 
 name: Build and Test
 
+permissions:
+  contents: read
+
 # This determines when this workflow is run
 on:
   workflow_dispatch:
@@ -16,27 +19,32 @@ on:
 
 jobs:
   industrial_ci:
+    name: industrial_ci (${{ matrix.env.ROS_DISTRO }})
     strategy:
       fail-fast: false
       matrix:
         env:
-          - ROS_DISTRO: jazzy
           - ROS_DISTRO: humble
+            ROS_REPO: main
+          - ROS_DISTRO: jazzy
+            ROS_REPO: main
+          - ROS_DISTRO: lyrical
+            ROS_REPO: main
           - ROS_DISTRO: rolling
+            ROS_REPO: testing
 
     env:
       CCACHE_DIR: /github/home/.ccache
       CXXFLAGS: "-Wall -Wextra -Wwrite-strings -Wunreachable-code -Wpointer-arith -Wredundant-decls"
-      ROS_REPO: main
 
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/checkout@v4
+      - uses: actions/checkout@11d5960a326750d5838078e36cf38b85af677262 # v4
       # This step will fetch/store the directory used by ccache before/after the ci run
-      - uses: actions/cache@v4
+      - uses: actions/cache@0057852bfaa89a56745cba8c7296529d2fc39830 # v4
         with:
           path: ${{ env.CCACHE_DIR }}
-          key: ccache-{{ matrix.env.ROS_DISTRO }}-{{ matrix.env.ROS_REPO }}
+          key: ccache-${{ matrix.env.ROS_DISTRO }}-${{ matrix.env.ROS_REPO }}
       # Run industrial_ci
-      - uses: 'ros-industrial/industrial_ci@master'
+      - uses: ros-industrial/industrial_ci@125164b9f1883cdf1858897a7146d1bebf2be5c6 # master
         env: ${{ matrix.env }}
diff --git a/CMakeLists.txt b/CMakeLists.txt
index 7b8bb21..feb6b0e 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -29,7 +29,12 @@ add_library(
   ${PROJECT_NAME}
   src/topic_based_system.cpp
 )
-ament_target_dependencies(${PROJECT_NAME} ${THIS_PACKAGE_INCLUDE_DEPENDS})
+target_link_libraries(${PROJECT_NAME} PUBLIC
+  angles::angles
+  hardware_interface::hardware_interface
+  rclcpp::rclcpp
+  ${sensor_msgs_TARGETS}
+)
 target_include_directories(${PROJECT_NAME}
   PUBLIC  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
           $<INSTALL_INTERFACE:include>)
@@ -69,8 +74,9 @@ if(BUILD_TESTING)
   # GTests
   ament_add_gtest(topic_based_system_test test/topic_based_system_test.cpp)
   target_link_libraries(topic_based_system_test
-    ${PROJECT_NAME})
-  ament_target_dependencies(topic_based_system_test ${THIS_PACKAGE_INCLUDE_DEPENDS} ros2_control_test_assets)
+    ${PROJECT_NAME}
+    ros2_control_test_assets::ros2_control_test_assets
+  )
 
   # Integration tests
   add_ros_test(
diff --git a/include/topic_based_ros2_control/topic_based_system.hpp b/include/topic_based_ros2_control/topic_based_system.hpp
index cf67d61..5ecff17 100644
--- a/include/topic_based_ros2_control/topic_based_system.hpp
+++ b/include/topic_based_ros2_control/topic_based_system.hpp
@@ -40,6 +40,11 @@
 #include <hardware_interface/handle.hpp>
 #include <hardware_interface/hardware_info.hpp>
 #include <hardware_interface/system_interface.hpp>
+#if __has_include(<hardware_interface/hardware_interface/version.h>)
+#include <hardware_interface/hardware_interface/version.h>
+#else
+#include <hardware_interface/version.h>
+#endif
 #include <hardware_interface/types/hardware_interface_return_values.hpp>
 #include <hardware_interface/types/hardware_interface_type_values.hpp>
 #include <rclcpp/node.hpp>
@@ -55,7 +60,11 @@ using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
 class TopicBasedSystem : public hardware_interface::SystemInterface
 {
 public:
+#if HARDWARE_INTERFACE_VERSION_GTE(6, 0, 0)
+  CallbackReturn on_init(const hardware_interface::HardwareComponentInterfaceParams& params) override;
+#else
   CallbackReturn on_init(const hardware_interface::HardwareInfo& info) override;
+#endif
 
   std::vector<hardware_interface::StateInterface> export_state_interfaces() override;
 
diff --git a/src/topic_based_system.cpp b/src/topic_based_system.cpp
index 67a9ec9..bc8fffc 100644
--- a/src/topic_based_system.cpp
+++ b/src/topic_based_system.cpp
@@ -61,9 +61,15 @@ static constexpr std::size_t VELOCITY_INTERFACE_INDEX = 1;
 // JointState doesn't contain an acceleration field, so right now it's not used
 static constexpr std::size_t EFFORT_INTERFACE_INDEX = 3;
 
+#if HARDWARE_INTERFACE_VERSION_GTE(6, 0, 0)
+CallbackReturn TopicBasedSystem::on_init(const hardware_interface::HardwareComponentInterfaceParams& params)
+{
+  if (hardware_interface::SystemInterface::on_init(params) != CallbackReturn::SUCCESS)
+#else
 CallbackReturn TopicBasedSystem::on_init(const hardware_interface::HardwareInfo& info)
 {
   if (hardware_interface::SystemInterface::on_init(info) != CallbackReturn::SUCCESS)
+#endif
   {
     return CallbackReturn::ERROR;
   }