Revert "removed logging for when status_publish_rate == 0.0"

This reverts commit 99a2cc4.

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 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 0.0 disables the feature.
 
          .. code-block:: xml
 
             <ros2_control name="MyHardware" type="system">
             <hardware>
                <plugin>my_package/MyHardware</plugin>
-               <param name="status_publish_rate">20</param>
+               <param name="status_publish_rate">20.0</param>
             </hardware>
             ...
             </ros2_control>

hardware_interface/include/hardware_interface/hardware_component_interface.hpp

@@ -180,33 +180,29 @@ class HardwareComponentInterface : public rclcpp_lifecycle::node_interfaces::Lif
         params.hardware_info.name.c_str());
     }
 
-    int publish_rate = 0;
+    double publish_rate = 0.0;
     auto it = info_.hardware_parameters.find("status_publish_rate");
     if (it != info_.hardware_parameters.end())
     {
       try
       {
-        publish_rate = std::stoi(it->second);
-
-        if (publish_rate < 0)
-        {
-          RCLCPP_ERROR(
-            get_logger(),
-            "'status_publish_rate' cannot be negative (got %d). Please fix your hardware "
-            "parameters.",
-            publish_rate);
-          return CallbackReturn::ERROR;
-        }
+        publish_rate = hardware_interface::stod(it->second);
       }
       catch (const std::invalid_argument &)
       {
         RCLCPP_WARN(
-          get_logger(), "Invalid 'status_publish_rate' parameter. Using default %.d Hz.",
+          get_logger(), "Invalid 'status_publish_rate' parameter. Using default %.1f Hz.",
           publish_rate);
       }
     }
 
-    if (publish_rate > 0)
+    if (publish_rate == 0.0)
+    {
+      RCLCPP_INFO(
+        get_logger(),
+        "`status_publish_rate` is set to 0.0, hardware status publisher will not be created.");
+    }
+    else
     {
       control_msgs::msg::HardwareStatus status_msg_template;
       if (init_hardware_status_message(status_msg_template) != CallbackReturn::SUCCESS)