Fix hardware component unconfiguration

ros-controls · Sep 16, 2024 · a9363ba · a9363ba
1 parent eb4c19d
commit a9363ba
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Showing 3 changed files with 10 additions and 10 deletions.
diff --git a/hardware_interface/src/actuator.cpp b/hardware_interface/src/actuator.cpp
@@ -96,12 +96,12 @@ const rclcpp_lifecycle::State & Actuator::cleanup()
  std::unique_lock<std::recursive_mutex> lock(actuators_mutex_);
  if (impl_->get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
  {
+ impl_->set_lifecycle_state(rclcpp_lifecycle::State(
+ lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
+ lifecycle_state_names::UNCONFIGURED));
  switch (impl_->on_cleanup(impl_->get_lifecycle_state()))
  {
  case CallbackReturn::SUCCESS:
- impl_->set_lifecycle_state(rclcpp_lifecycle::State(
- lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
- lifecycle_state_names::UNCONFIGURED));
  break;
  case CallbackReturn::FAILURE:
  case CallbackReturn::ERROR:

diff --git a/hardware_interface/src/sensor.cpp b/hardware_interface/src/sensor.cpp
@@ -95,12 +95,12 @@ const rclcpp_lifecycle::State & Sensor::cleanup()
  std::unique_lock<std::recursive_mutex> lock(sensors_mutex_);
  if (impl_->get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
  {
+ impl_->set_lifecycle_state(rclcpp_lifecycle::State(
+ lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
+ lifecycle_state_names::UNCONFIGURED));
  switch (impl_->on_cleanup(impl_->get_lifecycle_state()))
  {
  case CallbackReturn::SUCCESS:
- impl_->set_lifecycle_state(rclcpp_lifecycle::State(
- lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
- lifecycle_state_names::UNCONFIGURED));
  break;
  case CallbackReturn::FAILURE:
  case CallbackReturn::ERROR:

diff --git a/hardware_interface/src/system.cpp b/hardware_interface/src/system.cpp
@@ -73,7 +73,7 @@ const rclcpp_lifecycle::State & System::configure()
  switch (impl_->on_configure(impl_->get_lifecycle_state()))
  {
  case CallbackReturn::SUCCESS:
- impl_->set_lifecycle_state(rclcpp_lifecycle::State(
+  impl_->set_lifecycle_state(rclcpp_lifecycle::State(
  lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, lifecycle_state_names::INACTIVE));
  break;
  case CallbackReturn::FAILURE:
@@ -94,12 +94,12 @@ const rclcpp_lifecycle::State & System::cleanup()
  std::unique_lock<std::recursive_mutex> lock(system_mutex_);
  if (impl_->get_lifecycle_state().id() == lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE)
  {
+ impl_->set_lifecycle_state(rclcpp_lifecycle::State(
+ lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
+ lifecycle_state_names::UNCONFIGURED));
  switch (impl_->on_cleanup(impl_->get_lifecycle_state()))
  {
  case CallbackReturn::SUCCESS:
- impl_->set_lifecycle_state(rclcpp_lifecycle::State(
- lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED,
- lifecycle_state_names::UNCONFIGURED));
  break;
  case CallbackReturn::FAILURE:
  case CallbackReturn::ERROR: