BeckhoffADSHardwareInterface::on_init is declared with HardwareComponentParams instead of HardwareComponentInterfaceParams, which means it does not override the virtual method in hardware_interface::HardwareComponentInterface and is never called by the ros2_control.
BeckhoffADSHardwareInterface::on_initis declared withHardwareComponentParamsinstead ofHardwareComponentInterfaceParams, which means it does not override the virtual method inhardware_interface::HardwareComponentInterfaceand is never called by the ros2_control.