From 9bfa9b77a898a4681432165debf251ff6e02d2a5 Mon Sep 17 00:00:00 2001
From: Sai Kishor Kothakota <sai.kishor@pal-robotics.com>
Date: Mon, 26 Aug 2024 14:10:35 +0200
Subject: [PATCH] Fix unload of controllers when spawned with
 `--unload-on-kill` (#1717)

---
 .../controller_manager/spawner.py             | 29 ++++++++++++++-----
 .../test/test_spawner_unspawner.cpp           | 19 ++++++++++++
 2 files changed, 40 insertions(+), 8 deletions(-)

diff --git a/controller_manager/controller_manager/spawner.py b/controller_manager/controller_manager/spawner.py
index f20c0a3066..a6b7215f5a 100644
--- a/controller_manager/controller_manager/spawner.py
+++ b/controller_manager/controller_manager/spawner.py
@@ -244,7 +244,7 @@ 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
             )
         if args.stopped:
@@ -265,20 +265,33 @@ def main(args=None):
                     node, controller_manager_name, controller_names, [], True, True, 5.0
                 )
                 if not ret.ok:
-                    node.get_logger().error("Failed to deactivate controller")
+                    node.get_logger().error(
+                        bcolors.FAIL + "Failed to deactivate controller" + bcolors.ENDC
+                    )
                     return 1
 
-                node.get_logger().info("Deactivated controller")
+                node.get_logger().info(
+                    f"Successfully deactivated controllers : {controller_names}"
+                )
 
             elif args.stopped:
                 node.get_logger().warn('"--stopped" flag is deprecated use "--inactive" instead')
 
-            ret = unload_controller(node, controller_manager_name, controller_name)
-            if not ret.ok:
-                node.get_logger().error("Failed to unload controller")
-                return 1
+            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
+                    )
 
-            node.get_logger().info("Unloaded controller")
+            if unload_status:
+                node.get_logger().info(f"Successfully unloaded controllers : {controller_names}")
+            else:
+                return 1
         return 0
     except KeyboardInterrupt:
         pass
diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp
index c83f777cfa..2cc742cdfd 100644
--- a/controller_manager/test/test_spawner_unspawner.cpp
+++ b/controller_manager/test/test_spawner_unspawner.cpp
@@ -254,6 +254,25 @@ TEST_F(TestLoadController, unload_on_kill)
   ASSERT_EQ(cm_->get_loaded_controllers().size(), 0ul);
 }
 
+TEST_F(TestLoadController, unload_on_kill_activate_as_group)
+{
+  // Launch spawner with unload on kill
+  // timeout command will kill it after the specified time with signal SIGINT
+  ControllerManagerRunner cm_runner(this);
+  cm_->set_parameter(rclcpp::Parameter("ctrl_3.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
+  cm_->set_parameter(rclcpp::Parameter("ctrl_2.type", test_controller::TEST_CONTROLLER_CLASS_NAME));
+  std::stringstream ss;
+  ss << "timeout --signal=INT 5 "
+     << std::string(coveragepy_script) +
+          " $(ros2 pkg prefix controller_manager)/lib/controller_manager/spawner "
+     << "ctrl_3 ctrl_2 --activate-as-group -c test_controller_manager --unload-on-kill";
+
+  EXPECT_NE(std::system(ss.str().c_str()), 0)
+    << "timeout should have killed spawner and returned non 0 code";
+
+  ASSERT_EQ(cm_->get_loaded_controllers().size(), 0ul);
+}
+
 TEST_F(TestLoadController, spawner_with_many_controllers)
 {
   std::stringstream ss;