WIP: Adds isResetRequired to RobotHW and combinedRobotHW

combined_robot_hw/include/combined_robot_hw/combined_robot_hw.h

@@ -98,6 +98,12 @@ class CombinedRobotHW : public hardware_interface::RobotHW
    */
   virtual void write(const ros::Time& time, const ros::Duration& period);
 
+  /**
+   * Checks whether the robot HW requires to reset controllers
+   *
+   */
+  virtual bool isResetRequired();
+
 protected:
   ros::NodeHandle root_nh_;
   ros::NodeHandle robot_hw_nh_;

combined_robot_hw/src/combined_robot_hw.cpp

@@ -195,6 +195,18 @@ namespace combined_robot_hw
     }
   }
 
+  bool CombinedRobotHW::isResetRequired()
+  {
+    // Call the isResetRequired method of the single RobotHW objects.
+    std::vector<hardware_interface::RobotHWSharedPtr>::iterator robot_hw;
+    for (robot_hw = robot_hw_list_.begin(); robot_hw != robot_hw_list_.end(); ++robot_hw)
+    {
+      if((*robot_hw)->isResetRequired())
+        return true;
+    }
+    return false;
+  }
+
   void CombinedRobotHW::filterControllerList(const std::list<hardware_interface::ControllerInfo>& list,
                                              std::list<hardware_interface::ControllerInfo>& filtered_list,
                                              hardware_interface::RobotHWSharedPtr robot_hw)

hardware_interface/include/hardware_interface/robot_hw.h

@@ -175,6 +175,26 @@ class RobotHW : public InterfaceManager
    * \param period The time passed since the last call to \ref write
    */
   virtual void write(const ros::Time& /*time*/, const ros::Duration& /*period*/) {}
+
+  /**
+  * Each robot HW might require to reset controllers, rising reset_ to true, this
+  * method returns true if that is the case
+  */
+  virtual bool isResetRequired()
+  {
+      if(reset_once_)
+      {
+        reset_once_ = false;
+        return true;
+      }
+      else
+      {
+        return false;
+      }
+  }
+
+protected:
+  bool reset_once_;
 };
 
 typedef std::shared_ptr<RobotHW> RobotHWSharedPtr;