Update controller_manager_plugin.cpp (#3179) (#3236)

Fixing the bug where the namespace is not properly applied when using Ros2ControlMultiManager Co-authored-by: Sebastian Jahr <[email protected]> (cherry picked from commit 2566467) Co-authored-by: Seohyeon Ryu <[email protected]>
moveit · Jan 12, 2025 · fac3854 · fac3854
1 parent 689e2b2
commit fac3854
Showing 1 changed file with 1 addition and 6 deletions.
diff --git a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
@@ -264,7 +264,7 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan
   void initialize(const rclcpp::Node::SharedPtr& node) override
   {
     node_ = node;
-    if (!ns_.empty())
+    if (ns_.empty())
     {
       if (!node_->has_parameter("ros_control_namespace"))
       {
@@ -275,11 +275,6 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan
         node_->get_parameter<std::string>("ros_control_namespace", ns_);
       }
     }
-    else if (node->has_parameter("ros_control_namespace"))
-    {
-      node_->get_parameter<std::string>("ros_control_namespace", ns_);
-      RCLCPP_INFO_STREAM(getLogger(), "Namespace for controller manager was specified, namespace: " << ns_);
-    }
 
     list_controllers_service_ = node_->create_client<controller_manager_msgs::srv::ListControllers>(
         getAbsName("controller_manager/list_controllers"));