Only access the interface configuration if the controller is configur…

…ed already
ros-controls · Nov 13, 2023 · 155969d · 155969d
1 parent 1d685a3
commit 155969d
Showing 1 changed file with 13 additions and 0 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -148,6 +148,9 @@ std::vector<std::string> get_following_controller_names(
 
     return following_controllers;
   }
+  // If the controller is not configured, return empty
+  if (!(is_controller_active(controller_it->c) || is_controller_inactive(controller_it->c)))
+    return following_controllers;
   const auto cmd_itfs = controller_it->c->command_interface_configuration().names;
   for (const auto & itf : cmd_itfs)
   {
@@ -206,6 +209,8 @@ std::vector<std::string> get_preceding_controller_names(
   }
   for (const auto & ctrl : controllers)
   {
+    // If the controller is not configured, then continue
+    if (!(is_controller_active(ctrl.c) || is_controller_inactive(ctrl.c))) continue;
     auto cmd_itfs = ctrl.c->command_interface_configuration().names;
     for (const auto & itf : cmd_itfs)
     {
@@ -2436,6 +2441,14 @@ bool ControllerManager::controller_sorting(
   const ControllerSpec & ctrl_a, const ControllerSpec & ctrl_b,
   const std::vector<controller_manager::ControllerSpec> & controllers)
 {
+  // If the neither of the controllers are configured, then return false
+  if (!((is_controller_active(ctrl_a.c) || is_controller_inactive(ctrl_a.c)) &&
+        (is_controller_active(ctrl_b.c) || is_controller_inactive(ctrl_b.c))))
+  {
+    if (is_controller_active(ctrl_a.c) || is_controller_inactive(ctrl_a.c)) return true;
+    return false;
+  }
+
   const std::vector<std::string> cmd_itfs = ctrl_a.c->command_interface_configuration().names;
   const std::vector<std::string> state_itfs = ctrl_a.c->state_interface_configuration().names;
   if (cmd_itfs.empty() || !ctrl_a.c->is_chainable())