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Fix ERROR stream + check only active controllers for multiple chained controllers #3556

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Fix ERROR stream + check only active controllers for multiple chained controllers #3556

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a3ce01a
Fix ERROR stream + check only active controllers
thomaspeyrucain Aug 14, 2025
a62d02d
Merge branch 'main' into main
thomaspeyrucain Oct 2, 2025
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6 changes: 3 additions & 3 deletions moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -596,11 +596,11 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan
dependency_map_reverse_.clear();
for (auto& controller : result->controller)
{
if (controller.chain_connections.size() > 1)
if (isActive(controller) && controller.chain_connections.size() > 1)
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I don't have a way to verify this so any test you could add would be extremely helpful.

Example scenario:

arm_1_JTC active
arm_2_JTC active
arm_3_chained inactive or active

Can you confirm that when controller = arm_1_JTC, controller.chain_connections.size() == 0
and when controller = arm_3_chained, controller.chain_connections.size() == 1?

{
RCLCPP_ERROR_STREAM(getLogger(),
"Controller with name %s chains to more than one controller. Chaining to more than "
"one controller is not supported.");
"Controller with name " << controller.name << " chains to more than one controller. "
"Chaining to more than one controller is not supported.");
return false;
}
for (const auto& chained_controller : controller.chain_connections)
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