From 476aa823498824a73fa943b2663b232531175430 Mon Sep 17 00:00:00 2001
From: Rein Appeldoorn <rein.appeldoorn@nobleo.nl>
Date: Tue, 17 Sep 2024 08:16:21 +0200
Subject: [PATCH] processed comments

---
 nav2_controller/src/controller_server.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/nav2_controller/src/controller_server.cpp b/nav2_controller/src/controller_server.cpp
index ee3aa673f1c..e0f3b48b0a6 100644
--- a/nav2_controller/src/controller_server.cpp
+++ b/nav2_controller/src/controller_server.cpp
@@ -300,7 +300,10 @@ ControllerServer::on_deactivate(const rclcpp_lifecycle::State & /*state*/)
    */
   costmap_ros_->deactivate();
 
-  onGoalExit();
+  publishZeroVelocity();
+  for (auto& controller : controllers_) {
+    controller.second->reset();
+  }
   vel_publisher_->on_deactivate();
 
   remove_on_set_parameters_callback(dyn_params_handler_.get());