Add the condition to skip the non-configured controllers

ros-controls · Jun 28, 2023 · 093a048 · 093a048
1 parent 8ecd9fd
commit 093a048
Showing 1 changed file with 6 additions and 0 deletions.
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -144,6 +144,9 @@ std::vector<std::string> get_following_controller_names(
 
     return following_controllers;
   }
+  // If the controller is not configured, return empty
+  if (!(is_controller_active(controller_it->c) || is_controller_inactive(controller_it->c)))
+    return following_controllers;
   const auto cmd_itfs = controller_it->c->command_interface_configuration().names;
   for (const auto & itf : cmd_itfs)
   {
@@ -198,6 +201,9 @@ std::vector<std::string> get_preceding_controller_names(
   }
   for (const auto & ctrl : controllers)
   {
+    // If the controller is not configured, return empty
+    if (!(is_controller_active(ctrl.c) || is_controller_inactive(ctrl.c)))
+      return preceding_controllers;
     auto cmd_itfs = ctrl.c->command_interface_configuration().names;
     for (const auto & itf : cmd_itfs)
     {