fix compatibility errors

Author: Yara Shahin

battery_state_broadcaster/src/battery_state_broadcaster.cpp

@@ -225,12 +225,21 @@ controller_interface::CallbackReturn BatteryStateBroadcaster::on_activate(
     return controller_interface::CallbackReturn::FAILURE;
   }
 
-  param_listener_->refresh_dynamic_parameters();
-
   // get parameters from the listener in case they were updated
+  param_listener_->refresh_dynamic_parameters();
   params_ = param_listener_->get_params();
-  auto combined_power_supply_technology = static_cast<uint8_t>(
-    params_.state_joints_map.at(params_.state_joints.at(0)).power_supply_technology);
+
+  uint8_t combined_power_supply_technology;
+  if (!params_.sensor_name.empty())
+  {
+    sums_.design_capacity_sum = static_cast<float>(params_.design_capacity);
+    combined_power_supply_technology = static_cast<uint8_t>(params_.power_supply_technology);
+  }
+  else
+  {
+    combined_power_supply_technology = static_cast<uint8_t>(
+      params_.state_joints_map.at(params_.state_joints.at(0)).power_supply_technology);
+  }
   std::string combined_location = "";
   std::string combined_serial_number = "";
 
@@ -268,12 +277,6 @@ controller_interface::CallbackReturn BatteryStateBroadcaster::on_activate(
     combined_serial_number += battery_state.serial_number + ", ";
   }
 
-  if (!params_.sensor_name.empty())
-  {
-    sums_.design_capacity_sum = static_cast<float>(params_.design_capacity);
-    combined_power_supply_technology = static_cast<uint8_t>(params_.power_supply_technology);
-  }
-
   // handle aggregate battery state initialization
   auto & battery_state_msg = battery_state_realtime_publisher_->msg_;
 

battery_state_broadcaster/src/battery_state_broadcaster.yaml

@@ -17,6 +17,7 @@ battery_state_broadcaster:
     type: string_array,
     description: "List of joints from which battery state interfaces will be read.",
     read_only: true,
+    default_value: [],
     validation: {
       unique<>: null
     }