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Fix controller activation crash on macOS (Fixes #604) (backport #2391) #2396

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Merged
merged 1 commit into from
Jul 16, 2025
Merged

Fix controller activation crash on macOS (Fixes #604) (backport #2391) #2396

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13 changes: 7 additions & 6 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -110,7 +110,7 @@ bool controller_name_compare(const controller_manager::ControllerSpec & a, const
* \return true if interface has a controller name as prefix, false otherwise.
*/
bool is_interface_a_chained_interface(
const std::string interface_name,
const std::string & interface_name,
const std::vector<controller_manager::ControllerSpec> & controllers,
controller_manager::ControllersListIterator & following_controller_it)
{
Expand Down Expand Up @@ -316,7 +316,7 @@ controller_interface::return_type evaluate_switch_result(
{
std::string list = std::accumulate(
std::next(deactivate_list.begin()), deactivate_list.end(), deactivate_list.front(),
[](std::string a, std::string b) { return a + " " + b; });
[](const std::string & a, const std::string & b) { return a + " " + b; });
const std::string info_msg =
fmt::format(FMT_COMPILE("Deactivated controllers: [ {} ]"), list);
message += "\n" + info_msg;
Expand All @@ -326,7 +326,7 @@ controller_interface::return_type evaluate_switch_result(
{
std::string list = std::accumulate(
std::next(activate_list.begin()), activate_list.end(), activate_list.front(),
[](std::string a, std::string b) { return a + " " + b; });
[](const std::string & a, const std::string & b) { return a + " " + b; });
const std::string info_msg =
fmt::format(FMT_COMPILE("Activated controllers: [ {} ]"), list);
message += "\n" + info_msg;
Expand Down Expand Up @@ -1183,7 +1183,7 @@ controller_interface::return_type ControllerManager::configure_controller(
{
std::string cmd_itfs_str = std::accumulate(
std::next(cmd_itfs.begin()), cmd_itfs.end(), cmd_itfs.front(),
[](std::string a, std::string b) { return a + ", " + b; });
[](const std::string & a, const std::string & b) { return a + ", " + b; });
RCLCPP_ERROR(
get_logger(),
"The command interfaces of the controller '%s' are not unique. Please make sure that the "
Expand All @@ -1197,7 +1197,7 @@ controller_interface::return_type ControllerManager::configure_controller(
{
std::string state_itfs_str = std::accumulate(
std::next(state_itfs.begin()), state_itfs.end(), state_itfs.front(),
[](std::string a, std::string b) { return a + ", " + b; });
[](const std::string & a, const std::string & b) { return a + ", " + b; });
RCLCPP_ERROR(
get_logger(),
"The state interfaces of the controller '%s' are not unique. Please make sure that the state "
Expand Down Expand Up @@ -1840,9 +1840,10 @@ controller_interface::return_type ControllerManager::switch_controller_cb(
switch_params_.timeout = timeout.to_chrono<std::chrono::nanoseconds>();
}
switch_params_.do_switch = true;

// wait until switch is finished
RCLCPP_DEBUG(get_logger(), "Requested atomic controller switch from realtime loop");
std::unique_lock<std::mutex> switch_params_guard(switch_params_.mutex, std::defer_lock);
std::unique_lock<std::mutex> switch_params_guard(switch_params_.mutex);
if (!switch_params_.cv.wait_for(
switch_params_guard, switch_params_.timeout, [this] { return !switch_params_.do_switch; }))
{
Expand Down
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