Revert "Handle cases of state interfaces with different data types"

This reverts commit 4a1364b.

Author: saikishor

joint_state_broadcaster/src/joint_state_broadcaster.cpp

@@ -414,29 +414,10 @@ controller_interface::return_type JointStateBroadcaster::update(
   for (auto i = 0u; i < state_interfaces_.size(); ++i)
   {
     // no retries, just try to get the latest value once
-    if (state_interfaces_[i].get_data_type() == hardware_interface::HandleDataType::DOUBLE)
+    const auto & opt = state_interfaces_[i].get_optional(0);
+    if (opt.has_value())
     {
-      const auto & opt = state_interfaces_[i].get_optional(0);
-      if (opt.has_value())
-      {
-        *mapped_values_[i] = opt.value();
-      }
-    }
-    else if (state_interfaces_[i].get_data_type() == hardware_interface::HandleDataType::BOOL)
-    {
-      const auto & opt = state_interfaces_[i].get_optional<bool>(0);
-      if (opt.has_value())
-      {
-        *mapped_values_[i] = static_cast<double>(opt.value());
-      }
-    }
-    else
-    {
-      RCLCPP_DEBUG(
-        get_node()->get_logger(),
-        "Unsupported data type for state interface '%s'. "
-        "Only double and bool are supported.",
-        state_interfaces_[i].get_name().c_str());
+      *mapped_values_[i] = opt.value();
     }
   }