From fac3854d5d09f7978f60d7e6308bd4d09afa35e8 Mon Sep 17 00:00:00 2001
From: "mergify[bot]" <37929162+mergify[bot]@users.noreply.github.com>
Date: Sun, 12 Jan 2025 19:44:13 +0000
Subject: [PATCH] Update controller_manager_plugin.cpp (#3179) (#3236)
Fixing the bug where the namespace is not properly applied when using Ros2ControlMultiManager
Co-authored-by: Sebastian Jahr <sebastian.jahr@picknik.ai>
(cherry picked from commit 256646748452430ed064c48ce86a670bbf2116ec)
Co-authored-by: Seohyeon Ryu <51668314+wizard-coder@users.noreply.github.com>
---
.../src/controller_manager_plugin.cpp | 7 +------
1 file changed, 1 insertion(+), 6 deletions(-)
diff --git a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
index 42d5378d0e..7672e09656 100644
--- a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
+++ b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
@@ -264,7 +264,7 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan
void initialize(const rclcpp::Node::SharedPtr& node) override
{
node_ = node;
- if (!ns_.empty())
+ if (ns_.empty())
{
if (!node_->has_parameter("ros_control_namespace"))
{
@@ -275,11 +275,6 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan
node_->get_parameter<std::string>("ros_control_namespace", ns_);
}
}
- else if (node->has_parameter("ros_control_namespace"))
- {
- node_->get_parameter<std::string>("ros_control_namespace", ns_);
- RCLCPP_INFO_STREAM(getLogger(), "Namespace for controller manager was specified, namespace: " << ns_);
- }
list_controllers_service_ = node_->create_client<controller_manager_msgs::srv::ListControllers>(
getAbsName("controller_manager/list_controllers"));