From 11184b10dc013a4840df95277b1e6d1edd64432c Mon Sep 17 00:00:00 2001
From: Thibault Poignonec <t.poignonec@sherpa-mr.com>
Date: Mon, 13 Jan 2025 12:28:12 +0100
Subject: [PATCH 1/3] fix test for jazzy

---
 test/test_modbus_hardware_interface.cpp | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/test/test_modbus_hardware_interface.cpp b/test/test_modbus_hardware_interface.cpp
index 3ea6b86..0ec1803 100644
--- a/test/test_modbus_hardware_interface.cpp
+++ b/test/test_modbus_hardware_interface.cpp
@@ -16,6 +16,8 @@
 
 #include <string>
 
+#include "rclcpp/rclcpp.hpp"
+
 #include "hardware_interface/resource_manager.hpp"
 #include "ros2_control_test_assets/components_urdfs.hpp"
 #include "ros2_control_test_assets/descriptions.hpp"
@@ -23,6 +25,10 @@
 class TestModbusHardwareInterface : public ::testing::Test
 {
 protected:
+  static void SetUpTestCase() { rclcpp::init(0, nullptr); }
+
+  static void TearDownTestCase() { rclcpp::shutdown(); }
+
   void SetUp() override
   {
     // TODO(anyone): Extend this description to your robot
@@ -66,11 +72,15 @@ class TestModbusHardwareInterface : public ::testing::Test
     )";
   }
   std::string valid_modbus_hardware;
+
+  rclcpp::Node::SharedPtr rm_node = std::make_shared<rclcpp::Node>("ResourceManager");
 };
 
 TEST_F(TestModbusHardwareInterface, load_modbus_hardware_interface_2dof)
 {
   auto urdf = ros2_control_test_assets::urdf_head + valid_modbus_hardware +
               ros2_control_test_assets::urdf_tail;
-  ASSERT_NO_THROW(hardware_interface::ResourceManager rm(urdf));
+
+  ASSERT_NO_THROW(hardware_interface::ResourceManager rm(
+    urdf, rm_node->get_node_clock_interface(), rm_node->get_node_logging_interface()));
 }

From 226e82ba2e00115353fef848a3de3f7928307edd Mon Sep 17 00:00:00 2001
From: Thibault Poignonec <t.poignonec@sherpa-mr.com>
Date: Mon, 13 Jan 2025 12:28:54 +0100
Subject: [PATCH 2/3] fix typo in README.md (pre-commit run --all)

---
 README.md | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/README.md b/README.md
index 37430f9..4f00ef2 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-Video explanation of its implemntation and how to use can be found [here](https://youtu.be/iEiZje8imeU?si=3jsBkv6SsXmHkQpW).
+Video explanation of its implementation and how to use can be found [here](https://youtu.be/iEiZje8imeU?si=3jsBkv6SsXmHkQpW).
 # ModbusHardwareInterface
 If you not familiar with `ros2_control.xacro` check the [section at the end](#mini-urdf-and-xacro-introduction).
 ## Using ModbusHardwareInterface in ros2_control.xacro

From 7196a6a6d9a37926c349520a5fb84b828587c3d5 Mon Sep 17 00:00:00 2001
From: Thibault Poignonec <t.poignonec@sherpa-mr.com>
Date: Mon, 13 Jan 2025 12:29:31 +0100
Subject: [PATCH 3/3] add backward_ros for exception backtracing

---
 CMakeLists.txt | 1 +
 package.xml    | 1 +
 2 files changed, 2 insertions(+)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 38a1d9f..ec28e49 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -20,6 +20,7 @@ set(THIS_PACKAGE_INCLUDE_DEPENDS
 
 # find dependencies
 find_package(ament_cmake REQUIRED)
+find_package(backward_ros REQUIRED)
 foreach(Dependency IN ITEMS ${THIS_PACKAGE_INCLUDE_DEPENDS})
   find_package(${Dependency} REQUIRED)
 endforeach()
diff --git a/package.xml b/package.xml
index e1aa75a..5f82b02 100644
--- a/package.xml
+++ b/package.xml
@@ -12,6 +12,7 @@
   <buildtool_depend>ament_cmake</buildtool_depend>
   <buildtool_depend>pkg-config</buildtool_depend>
 
+  <depend>backward_ros</depend>
   <depend>hardware_interface</depend>
   <depend>libmodbus-dev</depend>
   <depend>pluginlib</depend>