start the async thread when configuring the controller

ros-controls · Jun 12, 2024 · 52fb844 · 52fb844
1 parent 4474281
commit 52fb844
Showing 1 changed file with 3 additions and 9 deletions.
diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
@@ -58,15 +58,8 @@ return_type ControllerInterfaceBase::init(
  node_->register_on_cleanup(
  std::bind(&ControllerInterfaceBase::on_cleanup, this, std::placeholders::_1));
 
- auto activate_callback = [this](const rclcpp_lifecycle::State & state)
- {
- if (is_async() && async_handler_)
- {
- async_handler_->start_async_update_thread();
- }
- return on_activate(state);
- };
- node_->register_on_activate(activate_callback);
+ node_->register_on_activate(
+ std::bind(&ControllerInterfaceBase::on_activate, this, std::placeholders::_1));
 
  node_->register_on_deactivate(
  std::bind(&ControllerInterfaceBase::on_deactivate, this, std::placeholders::_1));
@@ -102,6 +95,7 @@ const rclcpp_lifecycle::State & ControllerInterfaceBase::configure()
  std::bind(&ControllerInterfaceBase::get_state, this),
  std::bind(
  &ControllerInterfaceBase::update, this, std::placeholders::_1, std::placeholders::_2));
+ async_handler_->start_async_update_thread();
  }
 
  return get_node()->configure();