From 64b29d8d64ee96061de8b641fde20fc5df92ab4a Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Thu, 17 Oct 2024 10:45:37 +0200
Subject: [PATCH] Cleanup variables in the RTBufferVariables

---
 .../include/controller_manager/controller_manager.hpp  | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/controller_manager/include/controller_manager/controller_manager.hpp b/controller_manager/include/controller_manager/controller_manager.hpp
index 8fed8c7030..98ea5a843d 100644
--- a/controller_manager/include/controller_manager/controller_manager.hpp
+++ b/controller_manager/include/controller_manager/controller_manager.hpp
@@ -641,10 +641,9 @@ class ControllerManager : public rclcpp::Node
     RTBufferVariables()
     {
       deactivate_controllers_list.reserve(1000);
-      activate_controllers_list.reserve(1000);
+      activate_controllers_using_interfaces_list.reserve(1000);
+      fallback_controllers_list.reserve(1000);
       concatenated_string.reserve(5000);
-      failed_hardware_components.reserve(2000);
-      failed_controllers_list.reserve(2000);
     }
 
     const std::string & get_concatenated_string(
@@ -663,10 +662,9 @@ class ControllerManager : public rclcpp::Node
     }
 
     std::vector<std::string> deactivate_controllers_list;
-    std::vector<std::string> activate_controllers_list;
-    std::vector<std::string> failed_hardware_components;
+    std::vector<std::string> activate_controllers_using_interfaces_list;
+    std::vector<std::string> fallback_controllers_list;
     std::string concatenated_string;
-    std::vector<std::string> failed_controllers_list;
   };
   RTBufferVariables rt_buffer_;
 };