expose get_data_type method in loaned interfaces (#2351)

Author: saikishor

hardware_interface/include/hardware_interface/actuator_interface.hpp

@@ -559,7 +559,8 @@ class ActuatorInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNod
     return opt_value.value();
   }
 
-  void set_command(const std::string & interface_name, const double & value)
+  template <typename T>
+  void set_command(const std::string & interface_name, const T & value)
   {
     auto it = actuator_commands_.find(interface_name);
     if (it == actuator_commands_.end())

hardware_interface/include/hardware_interface/loaned_command_interface.hpp

@@ -209,6 +209,12 @@ class LoanedCommandInterface
     return false;
   }
 
+  /**
+   * @brief Get the data type of the command interface.
+   * @return The data type of the command interface.
+   */
+  HandleDataType get_data_type() const { return command_interface_.get_data_type(); }
+
 protected:
   CommandInterface & command_interface_;
   Deleter deleter_;

hardware_interface/include/hardware_interface/loaned_state_interface.hpp

@@ -169,6 +169,12 @@ class LoanedStateInterface
     return false;
   }
 
+  /**
+   * @brief Get the data type of the state interface.
+   * @return The data type of the state interface.
+   */
+  HandleDataType get_data_type() const { return state_interface_.get_data_type(); }
+
 protected:
   const StateInterface & state_interface_;
   Deleter deleter_;

hardware_interface/include/hardware_interface/system_interface.hpp

@@ -589,7 +589,8 @@ class SystemInterface : public rclcpp_lifecycle::node_interfaces::LifecycleNodeI
     return opt_value.value();
   }
 
-  void set_command(const std::string & interface_name, const double & value)
+  template <typename T>
+  void set_command(const std::string & interface_name, const T & value)
   {
     auto it = system_commands_.find(interface_name);
     if (it == system_commands_.end())