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Fix multiple calls to export reference interfaces #1108

Merged
merged 2 commits into from
Sep 16, 2023
Merged

Fix multiple calls to export reference interfaces #1108

merged 2 commits into from
Sep 16, 2023

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saikishor
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Source: ros2_control Working Group Meeting Notes

[Manuel/Denis] Chainable controllers: how to handle export of reference interfaces, on_export_reference_interfaces() is called through services -> multiple calls -> multiple CommandInterfaces are created and old ones are invalidated.
Example: admittance_controller CommandInterfaces of other controller can be invalidated by services call.

This PR addresses it by using similar information stored in the resource manager

bmagyar
bmagyar approved these changes Sep 16, 2023
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oh this is quite elegant!
thank you

@bmagyar bmagyar added the backport-humble This label should be used by maintaines only! Label triggers PR backport to ROS2 humble. label Sep 16, 2023
@bmagyar bmagyar merged commit af10525 into ros-controls:master Sep 16, 2023
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mergify bot pushed a commit that referenced this pull request Sep 16, 2023
@saikishor @mergify
Fix multiple calls to export reference interfaces (#1108)
ade6056 
(cherry picked from commit af10525)

# Conflicts:
#	controller_manager/test/test_controller_manager_srvs.cpp
@mergify mergify bot mentioned this pull request Sep 16, 2023
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destogl added a commit that referenced this pull request Sep 21, 2023
@mergify @saikishor @destogl
Fix multiple calls to export reference interfaces (backport #1108) (#…
1e73a8f 
…1114)

* Fix multiple calls to export reference interfaces (#1108)

(cherry picked from commit af10525)

# Conflicts:
#	controller_manager/test/test_controller_manager_srvs.cpp

* Apply suggestions from code review

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>

---------

Co-authored-by: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Co-authored-by: Dr. Denis <denis@stoglrobotics.de>
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@bmagyar bmagyar bmagyar approved these changes

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