Initialize the controller manager services after initializing resourc…

…e manager
ros-controls · Jan 5, 2024 · 1f264f5 · 1f264f5
1 parent 64c9e2a
commit 1f264f5
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -286,12 +286,12 @@ ControllerManager::ControllerManager(
       "[Deprecated] Passing the robot description parameter directly to the control_manager node "
       "is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.");
     init_resource_manager(robot_description_);
+    init_services();
   }
 
   diagnostics_updater_.setHardwareID("ros2_control");
   diagnostics_updater_.add(
     "Controllers Activity", this, &ControllerManager::controller_activity_diagnostic_callback);
-  init_services();
 }
 
 ControllerManager::ControllerManager(
@@ -318,7 +318,6 @@ ControllerManager::ControllerManager(
   diagnostics_updater_.setHardwareID("ros2_control");
   diagnostics_updater_.add(
     "Controllers Activity", this, &ControllerManager::controller_activity_diagnostic_callback);
-  init_services();
 }
 
 void ControllerManager::subscribe_to_robot_description_topic()
@@ -352,6 +351,7 @@ void ControllerManager::robot_description_callback(const std_msgs::msg::String &
       return;
     }
     init_resource_manager(robot_description_);
+    init_services();
   }
   catch (std::runtime_error & e)
   {