From 8ecd9fd1ee17278c1312cf409abb8828f67829dc Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Wed, 28 Jun 2023 07:39:56 +0200
Subject: [PATCH] Add debug print of reordered controllers list once they are
 sorted

---
 controller_manager/src/controller_manager.cpp | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
index 25aa52b4ac..27029daafe 100644
--- a/controller_manager/src/controller_manager.cpp
+++ b/controller_manager/src/controller_manager.cpp
@@ -1149,6 +1149,12 @@ controller_interface::return_type ControllerManager::switch_controller(
       &ControllerManager::controller_sorting, this, std::placeholders::_1, std::placeholders::_2,
       to));
 
+  RCLCPP_DEBUG(get_logger(), "Reordered controllers list is:");
+  for (const auto & ctrl : to)
+  {
+    RCLCPP_DEBUG(this->get_logger(), "\t%s", ctrl.info.name.c_str());
+  }
+
   // switch lists
   rt_controllers_wrapper_.switch_updated_list(guard);
   // clear unused list