Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

check for state of the controller node before cleanup (backport #1363) #1378

Merged
merged 3 commits into from
Apr 9, 2024
Merged

check for state of the controller node before cleanup (backport #1363) #1378

Show file tree
Hide file tree
Changes from 2 commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
1c1fce6
check for state of the controller node before cleanup (#1363)
saikishor Feb 9, 2024
ed491ed
Fix merge conflicts
christophfroehlich Mar 27, 2024
104289f
Remove test applicable only to rolling
christophfroehlich Mar 28, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
15 changes: 14 additions & 1 deletion controller_manager/src/controller_manager.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -652,7 +652,20 @@ controller_interface::return_type ControllerManager::unload_controller(
RCLCPP_DEBUG(get_logger(), "Cleanup controller");
// TODO(destogl): remove reference interface if chainable; i.e., add a separate method for
// cleaning-up controllers?
controller.c->get_node()->cleanup();
if (is_controller_inactive(*controller.c))
{
RCLCPP_DEBUG(
get_logger(), "Controller '%s' is cleaned-up before unloading!", controller_name.c_str());
// TODO(destogl): remove reference interface if chainable; i.e., add a separate method for
// cleaning-up controllers?
const auto new_state = controller.c->get_node()->cleanup();
if (new_state.id() != lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED)
{
RCLCPP_WARN(
get_logger(), "Failed to clean-up the controller '%s' before unloading!",
controller_name.c_str());
}
}
executor_->remove_node(controller.c->get_node()->get_node_base_interface());
to.erase(found_it);

Expand Down
57 changes: 57 additions & 0 deletions controller_manager/test/test_controller_manager_srvs.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -461,7 +461,52 @@ TEST_F(TestControllerManagerSrvs, unload_controller_srv)

result = call_service_and_wait(*client, request, srv_executor, true);
ASSERT_TRUE(result->ok);
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, test_controller->get_state().id());
EXPECT_EQ(0u, cm_->get_loaded_controllers().size());
}

TEST_F(TestControllerManagerSrvs, robot_description_on_load_and_unload_controller)
{
rclcpp::executors::SingleThreadedExecutor srv_executor;
rclcpp::Node::SharedPtr srv_node = std::make_shared<rclcpp::Node>("srv_client");
srv_executor.add_node(srv_node);
rclcpp::Client<controller_manager_msgs::srv::UnloadController>::SharedPtr unload_client =
srv_node->create_client<controller_manager_msgs::srv::UnloadController>(
"test_controller_manager/unload_controller");

auto test_controller = std::make_shared<TestController>();
auto abstract_test_controller = cm_->add_controller(
test_controller, test_controller::TEST_CONTROLLER_NAME,
test_controller::TEST_CONTROLLER_CLASS_NAME);
EXPECT_EQ(1u, cm_->get_loaded_controllers().size());

// check the robot description
ASSERT_EQ(ros2_control_test_assets::minimal_robot_urdf, test_controller->get_robot_description());

// Now change the robot description and then see that the controller maintains the old URDF until
// it is unloaded and loaded again
auto msg = std_msgs::msg::String();
msg.data = ros2_control_test_assets::minimal_robot_missing_state_keys_urdf;
cm_->robot_description_callback(msg);
ASSERT_EQ(ros2_control_test_assets::minimal_robot_urdf, test_controller->get_robot_description());

// now unload and load the controller and see if the controller gets the new robot description
auto unload_request = std::make_shared<controller_manager_msgs::srv::UnloadController::Request>();
unload_request->name = test_controller::TEST_CONTROLLER_NAME;
auto result = call_service_and_wait(*unload_client, unload_request, srv_executor, true);
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, test_controller->get_state().id());
EXPECT_EQ(0u, cm_->get_loaded_controllers().size());

// now load it and check if it got the new robot description
cm_->add_controller(
test_controller, test_controller::TEST_CONTROLLER_NAME,
test_controller::TEST_CONTROLLER_CLASS_NAME);
EXPECT_EQ(1u, cm_->get_loaded_controllers().size());
ASSERT_EQ(
ros2_control_test_assets::minimal_robot_missing_state_keys_urdf,
test_controller->get_robot_description());
}
christophfroehlich marked this conversation as resolved.
Show resolved Hide resolved

TEST_F(TestControllerManagerSrvs, configure_controller_srv)
Expand All @@ -472,6 +517,9 @@ TEST_F(TestControllerManagerSrvs, configure_controller_srv)
rclcpp::Client<controller_manager_msgs::srv::ConfigureController>::SharedPtr client =
srv_node->create_client<controller_manager_msgs::srv::ConfigureController>(
"test_controller_manager/configure_controller");
rclcpp::Client<controller_manager_msgs::srv::UnloadController>::SharedPtr unload_client =
srv_node->create_client<controller_manager_msgs::srv::UnloadController>(
"test_controller_manager/unload_controller");

auto request = std::make_shared<controller_manager_msgs::srv::ConfigureController::Request>();
request->name = test_controller::TEST_CONTROLLER_NAME;
Expand All @@ -490,6 +538,15 @@ TEST_F(TestControllerManagerSrvs, configure_controller_srv)
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE,
cm_->get_loaded_controllers()[0].c->get_state().id());
EXPECT_EQ(lifecycle_msgs::msg::State::PRIMARY_STATE_INACTIVE, test_controller->get_state().id());

// now unload the controller and check the state
auto unload_request = std::make_shared<controller_manager_msgs::srv::UnloadController::Request>();
unload_request->name = test_controller::TEST_CONTROLLER_NAME;
ASSERT_TRUE(call_service_and_wait(*unload_client, unload_request, srv_executor, true)->ok);
EXPECT_EQ(
lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, test_controller->get_state().id());
EXPECT_EQ(0u, cm_->get_loaded_controllers().size());
}

TEST_F(TestControllerManagerSrvs, list_sorted_chained_controllers)
Expand Down
Loading