Simplify on_set_chained_mode implementations avoiding cpplint warnings (#1564)

(cherry picked from commit d8dc4b1)

# Conflicts:
#	diff_drive_controller/src/diff_drive_controller.cpp
#	pid_controller/src/pid_controller.cpp

Author: bhagyeshagresar

diff_drive_controller/src/diff_drive_controller.cpp

@@ -607,6 +607,31 @@ controller_interface::CallbackReturn DiffDriveController::configure_side(
 
   return controller_interface::CallbackReturn::SUCCESS;
 }
+<<<<<<< HEAD
+=======
+
+bool DiffDriveController::on_set_chained_mode(bool /*chained_mode*/) { return true; }
+
+std::vector<hardware_interface::CommandInterface>
+DiffDriveController::on_export_reference_interfaces()
+{
+  std::vector<hardware_interface::CommandInterface> reference_interfaces;
+  reference_interfaces.reserve(reference_interfaces_.size());
+
+  reference_interfaces.push_back(
+    hardware_interface::CommandInterface(
+      get_node()->get_name() + std::string("/linear"), hardware_interface::HW_IF_VELOCITY,
+      &reference_interfaces_[0]));
+
+  reference_interfaces.push_back(
+    hardware_interface::CommandInterface(
+      get_node()->get_name() + std::string("/angular"), hardware_interface::HW_IF_VELOCITY,
+      &reference_interfaces_[1]));
+
+  return reference_interfaces;
+}
+
+>>>>>>> d8dc4b1 (Simplify `on_set_chained_mode` implementations avoiding cpplint warnings (#1564))
 }  // namespace diff_drive_controller
 
 #include "class_loader/register_macro.hpp"

mecanum_drive_controller/src/mecanum_drive_controller.cpp

@@ -321,11 +321,7 @@ MecanumDriveController::on_export_reference_interfaces()
   return reference_interfaces;
 }
 
-bool MecanumDriveController::on_set_chained_mode(bool chained_mode)
-{
-  // Always accept switch to/from chained mode
-  return true || chained_mode;
-}
+bool MecanumDriveController::on_set_chained_mode(bool /*chained_mode*/) { return true; }
 
 controller_interface::CallbackReturn MecanumDriveController::on_activate(
   const rclcpp_lifecycle::State & /*previous_state*/)

pid_controller/src/pid_controller.cpp

@@ -358,11 +358,38 @@ std::vector<hardware_interface::CommandInterface> PidController::on_export_refer
   return reference_interfaces;
 }
 
+<<<<<<< HEAD
 bool PidController::on_set_chained_mode(bool chained_mode)
 {
   // Always accept switch to/from chained mode
   return true || chained_mode;
 }
+=======
+std::vector<hardware_interface::StateInterface> PidController::on_export_state_interfaces()
+{
+  std::vector<hardware_interface::StateInterface> state_interfaces;
+  state_interfaces.reserve(state_interfaces_values_.size());
+
+  state_interfaces_values_.resize(
+    reference_and_state_dof_names_.size() * params_.reference_and_state_interfaces.size(),
+    std::numeric_limits<double>::quiet_NaN());
+  size_t index = 0;
+  for (const auto & interface : params_.reference_and_state_interfaces)
+  {
+    for (const auto & dof_name : reference_and_state_dof_names_)
+    {
+      state_interfaces.push_back(
+        hardware_interface::StateInterface(
+          std::string(get_node()->get_name()) + "/" + dof_name, interface,
+          &state_interfaces_values_[index]));
+      ++index;
+    }
+  }
+  return state_interfaces;
+}
+
+bool PidController::on_set_chained_mode(bool /*chained_mode*/) { return true; }
+>>>>>>> d8dc4b1 (Simplify `on_set_chained_mode` implementations avoiding cpplint warnings (#1564))
 
 controller_interface::CallbackReturn PidController::on_activate(
   const rclcpp_lifecycle::State & /*previous_state*/)

steering_controllers_library/src/steering_controllers_library.cpp

@@ -379,11 +379,7 @@ SteeringControllersLibrary::on_export_reference_interfaces()
   return reference_interfaces;
 }
 
-bool SteeringControllersLibrary::on_set_chained_mode(bool chained_mode)
-{
-  // Always accept switch to/from chained mode
-  return true || chained_mode;
-}
+bool SteeringControllersLibrary::on_set_chained_mode(bool /*chained_mode*/) { return true; }
 
 controller_interface::CallbackReturn SteeringControllersLibrary::on_activate(
   const rclcpp_lifecycle::State & /*previous_state*/)