add the perform switching logic to fix the issue with exclusive interfaces

Author: saikishor

controller_manager/src/controller_manager.cpp

@@ -1514,6 +1514,20 @@ void ControllerManager::activate_controllers(
         hardware_interface::lifecycle_state_names::ACTIVE,
         lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
       controller->release_interfaces();
+      {
+        // Now prepare and perform the stop interface switching as this is needed for exclusive
+        // interfaces
+        if (
+          !command_interface_names.empty() &&
+          (!resource_manager_->prepare_command_mode_switch({}, command_interface_names) ||
+           !resource_manager_->perform_command_mode_switch({}, command_interface_names)))
+        {
+          RCLCPP_ERROR(
+            get_logger(),
+            "Error switching back the interfaces in the hardware as the controller activation "
+            "failed.");
+        }
+      }
       return;
     }