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fix interfaces available
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Signed-off-by: Paul Gesel <[email protected]>
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pac48 committed Feb 2, 2024
1 parent 786d5b5 commit d920b64
Showing 1 changed file with 4 additions and 0 deletions.
4 changes: 4 additions & 0 deletions controller_manager/src/controller_manager.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -827,6 +827,9 @@ void ControllerManager::clear_requests()
{
deactivate_request_.clear();
activate_request_.clear();
for (const auto & controller_name : to_chained_mode_request_) {
resource_manager_->make_controller_reference_interfaces_unavailable(controller_name);
}
to_chained_mode_request_.clear();
from_chained_mode_request_.clear();
activate_command_interface_request_.clear();
Expand Down Expand Up @@ -2355,6 +2358,7 @@ controller_interface::return_type ControllerManager::check_following_controllers
if (found_it == to_chained_mode_request_.end())
{
to_chained_mode_request_.push_back(following_ctrl_it->info.name);
resource_manager_->make_controller_reference_interfaces_available(following_ctrl_it->info.name);
RCLCPP_DEBUG(
get_logger(), "Adding controller '%s' in 'to chained mode' request.",
following_ctrl_it->info.name.c_str());
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