added fix to the unloading of controllers

controller_manager/controller_manager/spawner.py

@@ -234,7 +234,7 @@ def main(args=None):
 
  node.get_logger().info(
  bcolors.OKGREEN
- + "Configured and activated all the parsed controllers list!"
+ + f"Configured and activated all the parsed controllers list : {controller_names}!"
  + bcolors.ENDC
  )
 
@@ -258,16 +258,25 @@ def main(args=None):
  )
  return 1
 
- node.get_logger().info("Deactivated controller")
-
- ret = unload_controller(node, controller_manager_name, controller_name)
- if not ret.ok:
- node.get_logger().error(
- bcolors.FAIL + "Failed to unload controller" + bcolors.ENDC
+ node.get_logger().info(
+ f"Successfully deactivated controllers : {controller_names}"
  )
- return 1
 
- node.get_logger().info("Unloaded controller")
+ unload_status = True
+ for controller_name in controller_names:
+ ret = unload_controller(node, controller_manager_name, controller_name)
+ if not ret.ok:
+ unload_status = False
+ node.get_logger().error(
+ bcolors.FAIL
+ + f"Failed to unload controller : {controller_name}"
+ + bcolors.ENDC
+ )
+
+ if unload_status:
+ node.get_logger().info(f"Successfully unloaded controllers : {controller_names}")
+ else:
+ return 1
  return 0
  except KeyboardInterrupt:
  pass