If the controller activation fails then release the claimed interfaces

saikishor · saikishor · commit 77e932e2a620 · 2024-04-29T23:57:45.000+02:00
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -1508,10 +1508,13 @@ void ControllerManager::activate_controllers(
     {
       RCLCPP_ERROR(
         get_logger(),
-        "After activation, controller '%s' is in state '%s' (%d), expected '%s' (%d).",
+        "After activation, controller '%s' is in state '%s' (%d), expected '%s' (%d). Releasing "
+        "interfaces!",
         controller->get_node()->get_name(), new_state.label().c_str(), new_state.id(),
         hardware_interface::lifecycle_state_names::ACTIVE,
         lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);
+      controller->release_interfaces();
+      return;
     }
 
     // if it is a chainable controller, make the reference interfaces available on activation

Original file line number	Diff line number	Diff line change
`@@ -1508,10 +1508,13 @@ void ControllerManager::activate_controllers(`
`1508`	`1508`	`{`
`1509`	`1509`	`RCLCPP_ERROR(`
`1510`	`1510`	`get_logger(),`
`1511`		`- "After activation, controller '%s' is in state '%s' (%d), expected '%s' (%d).",`
	`1511`	`+ "After activation, controller '%s' is in state '%s' (%d), expected '%s' (%d). Releasing "`
	`1512`	`+ "interfaces!",`
`1512`	`1513`	`controller->get_node()->get_name(), new_state.label().c_str(), new_state.id(),`
`1513`	`1514`	`hardware_interface::lifecycle_state_names::ACTIVE,`
`1514`	`1515`	`lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE);`
	`1516`	`+ controller->release_interfaces();`
	`1517`	`+ return;`
`1515`	`1518`	`}`
`1516`	`1519`
`1517`	`1520`	`// if it is a chainable controller, make the reference interfaces available on activation`