Calling command interface from another plugin

[Neuromancer2701]

I have two plugin that interact with there own piece of hardware and various controllers that are implemented in each one.

I am going back and refactoring some of these command interfaces. Can I just interact with the command interface from another plugin by just initialize it in export_command_interfaces and then just interact with that variable?

Second unrelated question is there a ros2_control roadmap? I was wondering if there was a plan to make command/state interfaces other types(int bool etc) in the future?

[christophfroehlich]

Regarding your second question: There exist design documents in the roadmap-repo, but I fear this is not as accurate/up-to-date as you are looking for. We started using https://github.com/orgs/ros-controls/projects for a feature roadmap. We discussed the templated interfaces already, see. e.g #638. But as far as I know, nobody is working on that currently.