fix: correctly init interfaces on init

aica-technology · Dec 5, 2024 · 34b3e0d · 34b3e0d
1 parent 364fe48
commit 34b3e0d
Showing 1 changed file with 2 additions and 3 deletions.
diff --git a/source/modulo_controllers/src/BaseControllerInterface.cpp b/source/modulo_controllers/src/BaseControllerInterface.cpp
@@ -33,6 +33,8 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn BaseCo
       [this](const std::vector<rclcpp::Parameter>& parameters) -> rcl_interfaces::msg::SetParametersResult {
         return this->on_set_parameters_callback(parameters);
       });
+  this->node_parameters_ = get_node()->get_node_parameters_interface();
+  this->node_topics_ = get_node()->get_node_topics_interface();
   add_parameter<double>("predicate_publishing_rate", 10.0, "The rate at which to publish controller predicates");
   return CallbackReturn::SUCCESS;
 }
@@ -42,9 +44,6 @@ BaseControllerInterface::on_configure(const rclcpp_lifecycle::State&) {
   add_inputs();
   add_outputs();
 
-  this->node_parameters_ = get_node()->get_node_parameters_interface();
-  this->node_topics_ = get_node()->get_node_topics_interface();
-
   if (predicates_.size()) {
     predicate_publisher_ =
         get_node()->create_publisher<modulo_interfaces::msg::PredicateCollection>("/predicates", qos_);