donot run the on_error when already in UNCONFIGURED state

ros-controls · Aug 29, 2024 · 89c314c · 89c314c
1 parent 9fdcdce
commit 89c314c
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Showing 3 changed files with 9 additions and 3 deletions.
diff --git a/hardware_interface/src/actuator.cpp b/hardware_interface/src/actuator.cpp
@@ -182,7 +182,9 @@ const rclcpp_lifecycle::State & Actuator::deactivate()
 const rclcpp_lifecycle::State & Actuator::error()
 {
   std::unique_lock<std::recursive_mutex> lock(actuators_mutex_);
-  if (impl_->get_lifecycle_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN)
+  if (
+    impl_->get_lifecycle_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN &&
+    impl_->get_lifecycle_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
   {
     switch (impl_->on_error(impl_->get_lifecycle_state()))
     {

diff --git a/hardware_interface/src/sensor.cpp b/hardware_interface/src/sensor.cpp
@@ -181,7 +181,9 @@ const rclcpp_lifecycle::State & Sensor::deactivate()
 const rclcpp_lifecycle::State & Sensor::error()
 {
   std::unique_lock<std::recursive_mutex> lock(sensors_mutex_);
-  if (impl_->get_lifecycle_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN)
+  if (
+    impl_->get_lifecycle_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN &&
+    impl_->get_lifecycle_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
   {
     switch (impl_->on_error(impl_->get_lifecycle_state()))
     {

diff --git a/hardware_interface/src/system.cpp b/hardware_interface/src/system.cpp
@@ -180,7 +180,9 @@ const rclcpp_lifecycle::State & System::deactivate()
 const rclcpp_lifecycle::State & System::error()
 {
   std::unique_lock<std::recursive_mutex> lock(system_mutex_);
-  if (impl_->get_lifecycle_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN)
+  if (
+    impl_->get_lifecycle_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_UNKNOWN &&
+    impl_->get_lifecycle_state().id() != lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
   {
     switch (impl_->on_error(impl_->get_lifecycle_state()))
     {