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Co-authored-by: Bence Magyar <[email protected]>
ros-controls · Oct 16, 2024 · 17ec65f · 17ec65f
1 parent dae549c
commit 17ec65f
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Showing 2 changed files with 4 additions and 3 deletions.
diff --git a/controller_manager/include/controller_manager/controller_manager.hpp b/controller_manager/include/controller_manager/controller_manager.hpp
@@ -424,7 +424,7 @@ class ControllerManager : public rclcpp::Node
     const std::vector<ControllerSpec> & controllers, int strictness,
     const ControllersListIterator controller_it);
 
-  /// The methood to check if the fallback controllers of the given controllers are in the right
+  /// Checks if the fallback controllers of the given controllers are in the right
   /// state, so they can be activated immediately
   /**
    * \param[in] controllers is a list of controllers to activate.

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -2409,10 +2409,11 @@ controller_interface::return_type ControllerManager::update(
   }
   if (!failed_controllers_list.empty())
   {
+    const auto FALLBACK_STACK_MAX_SIZE = 500;
     std::vector<std::string> active_controllers_using_interfaces(failed_controllers_list);
-    active_controllers_using_interfaces.reserve(500);
+    active_controllers_using_interfaces.reserve(FALLBACK_STACK_MAX_SIZE);
     std::vector<std::string> cumulative_fallback_controllers;
-    cumulative_fallback_controllers.reserve(500);
+    cumulative_fallback_controllers.reserve(FALLBACK_STACK_MAX_SIZE);
 
     for (const auto & failed_ctrl : failed_controllers_list)
     {