adjusted code and docs to reflect status_publisher is int now

Author: soham2560

hardware_interface/doc/writing_new_hardware_component.rst

@@ -212,14 +212,14 @@ The following is a step-by-step guide to create source files, basic tests, and c
                return hardware_interface::return_type::OK;
             }
 
-      *   **Enable in URDF**: Finally, to activate the publisher, add the ``status_publish_rate`` parameter to your ``<hardware>`` tag in the URDF. Setting it to 0.0 disables the feature.
+      *   **Enable in URDF**: Finally, to activate the publisher, add the ``status_publish_rate`` parameter to your ``<hardware>`` tag in the URDF. Setting it to 0 disables the feature.
 
          .. code-block:: xml
 
             <ros2_control name="MyHardware" type="system">
             <hardware>
                <plugin>my_package/MyHardware</plugin>
-               <param name="status_publish_rate">20.0</param>
+               <param name="status_publish_rate">20</param>
             </hardware>
             ...
             </ros2_control>

hardware_interface/include/hardware_interface/hardware_component_interface.hpp

@@ -201,7 +201,7 @@ class HardwareComponentInterface : public rclcpp_lifecycle::node_interfaces::Lif
       catch (const std::invalid_argument &)
       {
         RCLCPP_WARN(
-          get_logger(), "Invalid 'status_publish_rate' parameter. Using default %.1f Hz.",
+          get_logger(), "Invalid 'status_publish_rate' parameter. Using default %.d Hz.",
           publish_rate);
       }
     }