Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Fix multiple chainable controller activation bug (backport #1401) #1411

Merged
merged 4 commits into from
Mar 2, 2024
Merged

Fix multiple chainable controller activation bug (backport #1401) #1411

Show file tree
Hide file tree
Changes from 1 commit
Commits
Show all changes
4 commits
Select commit Hold shift + click to select a range
928af88
Fix multiple chainable controller activation bug (#1401)
saikishor Feb 22, 2024
f0d52a9
Apply Sai's suggestions
bmagyar Feb 25, 2024
fa8661f
Merge branch 'humble' into mergify/bp/humble/pr-1401
bmagyar Mar 2, 2024
ffdef2d
fix format
bmagyar Mar 2, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
14 changes: 14 additions & 0 deletions controller_manager/src/controller_manager.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -810,6 +810,12 @@ void ControllerManager::clear_requests()
{
deactivate_request_.clear();
activate_request_.clear();
// Set these interfaces as unavailable when clearing requests to avoid leaving them in available
// state without the controller being in active state
for (const auto & controller_name : to_chained_mode_request_)
{
resource_manager_->make_controller_reference_interfaces_unavailable(controller_name);
}
to_chained_mode_request_.clear();
from_chained_mode_request_.clear();
activate_command_interface_request_.clear();
Expand Down Expand Up @@ -1369,6 +1375,7 @@ void ControllerManager::switch_chained_mode(
auto controller = found_it->c;
if (!is_controller_active(*controller))
{
<<<<<<< HEAD
bmagyar marked this conversation as resolved.
Show resolved Hide resolved
if (controller->set_chained_mode(to_chained_mode))
{
if (to_chained_mode)
Expand All @@ -1381,6 +1388,9 @@ void ControllerManager::switch_chained_mode(
}
}
else
=======
if (!controller->set_chained_mode(to_chained_mode))
>>>>>>> 1cc73c2 (Fix multiple chainable controller activation bug (#1401))
bmagyar marked this conversation as resolved.
Show resolved Hide resolved
{
RCLCPP_ERROR(
get_logger(),
Expand Down Expand Up @@ -2255,6 +2265,10 @@ controller_interface::return_type ControllerManager::check_following_controllers
if (found_it == to_chained_mode_request_.end())
{
to_chained_mode_request_.push_back(following_ctrl_it->info.name);
// if it is a chainable controller, make the reference interfaces available on preactivation
// (This is needed when you activate a couple of chainable controller altogether)
resource_manager_->make_controller_reference_interfaces_available(
following_ctrl_it->info.name);
RCLCPP_DEBUG(
get_logger(), "Adding controller '%s' in 'to chained mode' request.",
following_ctrl_it->info.name.c_str());
Expand Down
Loading
Loading