Christoph Fröhlich

https://github.com/ros-controls/ros2_control_ci/actions/runs/8624783307/job/23640342421 ``` [INFO] [1712714483.939091611] [test_controller_manager]: Configuring controller 'ctrl_1' Error: ROR] [1712714483.939150942] [test_controller_manager]: Controller 'ctrl_1' can not be configured from 'active' state. Error: ROR] [1712714483.939950728] [spawner_ctrl_1]: [NON-XML-CHAR-0x1B][91mFailed to configure controller[NON-XML-CHAR-0x1B][0m [ros2run]:...

https://github.com/ros-controls/ros2_control/actions/runs/9122388125/job/25083111548 ``` [ RUN ] TestLoadController.multi_ctrls_test_type_in_param .... terminate called after throwing an instance of 'std::runtime_error' what(): Can not get command interface configuration until the controller is configured. Stack trace (most...

> > pending a Gazebo fixup PR > > see [ros-controls/gz_ros2_control#265](https://github.com/ros-controls/gz_ros2_control/pull/265) Do we want to maintain gazebo_ros2_control until EOL of Gazebo Classic? (at least for building it from source on...

> > > > pending a Gazebo fixup PR > > > > > > > > > see [ros-controls/gz_ros2_control#265](https://github.com/ros-controls/gz_ros2_control/pull/265) > > > > > > Do we want to...

Have you checked our [demos](https://github.com/ros-controls/ros2_control_demos/blob/ff8dd8bce5d086fa307a495047d68ac85f4e7523/example_3/hardware/rrbot_system_multi_interface.cpp#L137) and [our docs](https://control.ros.org/master/doc/ros2_control/hardware_interface/doc/writing_new_hardware_component.html)?

Includes now also code formatting from #1437

Includes now also code formatting from #1436

I think this is more of a legacy. The feature was added later, and set to false to avoid breaking behaviours. But we could discuss if it should be default...

Fixed with https://github.com/ros-controls/ros2_control/pull/1498

Same as https://github.com/ros-controls/ros2_control_ci/issues/34