From 3bd19bf7c83d3551ace29c0a7e84206aedfae629 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Fri, 13 Sep 2024 20:37:50 +0200
Subject: [PATCH] change conditioning to not trigger logging for a failed
 return as well

---
 controller_manager/src/controller_manager.cpp | 14 +++++++-------
 1 file changed, 7 insertions(+), 7 deletions(-)

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index f36171c05d..b0600d59aa 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -2310,7 +2310,13 @@ controller_interface::return_type ControllerManager::update(
         }
 
         *loaded_controller.next_update_cycle_time += controller_period;
-        if (!trigger_status)
+
+        if (controller_ret != controller_interface::return_type::OK)
+        {
+          failed_controllers_list.push_back(loaded_controller.info.name);
+          ret = controller_ret;
+        }
+        else if (!trigger_status)
         {
           RCLCPP_WARN(
             get_logger(),
@@ -2319,12 +2325,6 @@ controller_interface::return_type ControllerManager::update(
             loaded_controller.info.name.c_str(), time.seconds(),
             loaded_controller.next_update_cycle_time->seconds());
         }
-
-        if (controller_ret != controller_interface::return_type::OK)
-        {
-          failed_controllers_list.push_back(loaded_controller.info.name);
-          ret = controller_ret;
-        }
       }
     }
   }