Fix docstring for hardware lifecycle (#2429) (#2430)

mergify[bot] · web-flow · commit 8f1f2bc7f249 · 2025-08-01T10:13:15.000+02:00
diff --git a/hardware_interface/doc/hardware_components_userdoc.rst b/hardware_interface/doc/hardware_components_userdoc.rst
@@ -41,7 +41,7 @@ The hardware transitions to the following state after each method:
 * **INACTIVE** (``on_configure``, ``on_deactivate``):
 
   Communication with the hardware is established and hardware component is configured.
-  States can be read and command interfaces (System and Actuator only) are available.
+  States can be read, but command interfaces (System and Actuator only) are not available.
 
   As of now, it is left to the hardware component implementation to continue using the command received from the ``CommandInterfaces`` or to skip them completely.
 
diff --git a/hardware_interface/include/hardware_interface/actuator_interface.hpp b/hardware_interface/include/hardware_interface/actuator_interface.hpp
@@ -68,18 +68,15 @@ using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
  *
  * INACTIVE (on_configure, on_deactivate):
  *   Communication with the hardware is started and it is configured.
- *   States can be read and command interfaces are available.
- *
- *    As of now, it is left to the hardware component implementation to continue using the command
- * received from the ``CommandInterfaces`` or to skip them completely.
+ *   States can be read, but command interfaces are not available.
  *
  * FINALIZED (on_shutdown):
  *   Hardware interface is ready for unloading/destruction.
  *   Allocated memory is cleaned up.
  *
  * ACTIVE (on_activate):
  *   Power circuits of hardware are active and hardware can be moved, e.g., brakes are disabled.
- *   Command interfaces available.
+ *   Command interfaces are available.
  *
  * \todo
  * Implement
diff --git a/hardware_interface/include/hardware_interface/system_interface.hpp b/hardware_interface/include/hardware_interface/system_interface.hpp
@@ -72,18 +72,15 @@ using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface
  *
  * INACTIVE (on_configure, on_deactivate):
  *   Communication with the hardware is started and it is configured.
- *   States can be read and command interfaces are available.
- *
- *    As of now, it is left to the hardware component implementation to continue using the command
- *received from the ``CommandInterfaces`` or to skip them completely.
+ *   States can be read, but command interfaces are not available.
  *
  * FINALIZED (on_shutdown):
  *   Hardware interface is ready for unloading/destruction.
  *   Allocated memory is cleaned up.
  *
  * ACTIVE (on_activate):
  *   Power circuits of hardware are active and hardware can be moved, e.g., brakes are disabled.
- *   Command interfaces available.
+ *   Command interfaces are available.
  *
  * \todo
  * Implement

Original file line number	Diff line number	Diff line change
`@@ -68,18 +68,15 @@ using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface`
`68`	`68`	`*`
`69`	`69`	`* INACTIVE (on_configure, on_deactivate):`
`70`	`70`	`* Communication with the hardware is started and it is configured.`
`71`		`- * States can be read and command interfaces are available.`
`72`		`- *`
`73`		`- * As of now, it is left to the hardware component implementation to continue using the command`
`74`		- * received from the ``CommandInterfaces`` or to skip them completely.
	`71`	`+ * States can be read, but command interfaces are not available.`
`75`	`72`	`*`
`76`	`73`	`* FINALIZED (on_shutdown):`
`77`	`74`	`* Hardware interface is ready for unloading/destruction.`
`78`	`75`	`* Allocated memory is cleaned up.`
`79`	`76`	`*`
`80`	`77`	`* ACTIVE (on_activate):`
`81`	`78`	`* Power circuits of hardware are active and hardware can be moved, e.g., brakes are disabled.`
`82`		`- * Command interfaces available.`
	`79`	`+ * Command interfaces are available.`
`83`	`80`	`*`
`84`	`81`	`* \todo`
`85`	`82`	`* Implement`
Original file line number	Diff line number	Diff line change
`@@ -72,18 +72,15 @@ using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface`
`72`	`72`	`*`
`73`	`73`	`* INACTIVE (on_configure, on_deactivate):`
`74`	`74`	`* Communication with the hardware is started and it is configured.`
`75`		`- * States can be read and command interfaces are available.`
`76`		`- *`
`77`		`- * As of now, it is left to the hardware component implementation to continue using the command`
`78`		- *received from the ``CommandInterfaces`` or to skip them completely.
	`75`	`+ * States can be read, but command interfaces are not available.`
`79`	`76`	`*`
`80`	`77`	`* FINALIZED (on_shutdown):`
`81`	`78`	`* Hardware interface is ready for unloading/destruction.`
`82`	`79`	`* Allocated memory is cleaned up.`
`83`	`80`	`*`
`84`	`81`	`* ACTIVE (on_activate):`
`85`	`82`	`* Power circuits of hardware are active and hardware can be moved, e.g., brakes are disabled.`
`86`		`- * Command interfaces available.`
	`83`	`+ * Command interfaces are available.`
`87`	`84`	`*`
`88`	`85`	`* \todo`
`89`	`86`	`* Implement`