Fix multiple calls to export reference interfaces (backport #1108) (#…

…1114) * Fix multiple calls to export reference interfaces (#1108) (cherry picked from commit af10525) # Conflicts: # controller_manager/test/test_controller_manager_srvs.cpp * Apply suggestions from code review Co-authored-by: Sai Kishor Kothakota <[email protected]> --------- Co-authored-by: Sai Kishor Kothakota <[email protected]> Co-authored-by: Dr. Denis <[email protected]>
ros-controls · Sep 21, 2023 · 1e73a8f · 1e73a8f
1 parent ee9c06d
commit 1e73a8f
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Showing 2 changed files with 13 additions and 5 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -1317,11 +1317,17 @@ void ControllerManager::list_controllers_srv_cb(
         }
       }
       // check reference interfaces only if controller is inactive or active
-      auto references = controllers[i].c->export_reference_interfaces();
-      controller_state.reference_interfaces.reserve(references.size());
-      for (const auto & reference : references)
+      if (controllers[i].c->is_chainable())
       {
-        controller_state.reference_interfaces.push_back(reference.get_interface_name());
+        auto references =
+          resource_manager_->get_controller_reference_interface_names(controllers[i].info.name);
+        controller_state.reference_interfaces.reserve(references.size());
+        for (const auto & reference : references)
+        {
+          const std::string prefix_name = controllers[i].c->get_node()->get_name();
+          const std::string interface_name = reference.substr(prefix_name.size() + 1);
+          controller_state.reference_interfaces.push_back(interface_name);
+        }
       }
     }
     response->controller.push_back(controller_state);

diff --git a/controller_manager/test/test_controller_manager_srvs.cpp b/controller_manager/test/test_controller_manager_srvs.cpp
@@ -269,7 +269,9 @@ TEST_F(TestControllerManagerSrvs, list_chained_controllers_srv)
   ASSERT_EQ(result->controller[0].is_chainable, true);
   ASSERT_EQ(result->controller[0].is_chained, false);
   ASSERT_EQ(result->controller[0].reference_interfaces.size(), 2u);
-  ;
+  ASSERT_EQ("joint1/position", result->controller[0].reference_interfaces[0]);
+  ASSERT_EQ("joint1/velocity", result->controller[0].reference_interfaces[1]);
+
   ASSERT_EQ(result->controller[0].chain_connections.size(), 0u);
   // check test controller
   ASSERT_EQ(result->controller[1].state, "inactive");