Added logic for activating hardware interfaces (#139)

Signed-off-by: ahcorde <ahcorde@gmail.com>
ros-controls · Aug 15, 2022 · 108d32d · 108d32d
1 parent 65c1ee2
commit 108d32d
Showing 1 changed file with 5 additions and 0 deletions.
diff --git a/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp b/gazebo_ros2_control/src/gazebo_ros2_control_plugin.cpp
@@ -304,6 +304,11 @@ void GazeboRosControlPlugin::Load(gazebo::physics::ModelPtr parent, sdf::Element
     resource_manager_->import_component(std::move(gazeboSystem));
   }
 
+  rclcpp_lifecycle::State state(
+    lifecycle_msgs::msg::State::PRIMARY_STATE_ACTIVE,
+    hardware_interface::lifecycle_state_names::ACTIVE);
+  resource_manager_->set_component_state("GazeboSimSystem", state);
+
   impl_->executor_ = std::make_shared<rclcpp::executors::MultiThreadedExecutor>();
 
   // Create the controller manager