From a3ce01a11a585d79d793d75e9d25a4dd366e6c84 Mon Sep 17 00:00:00 2001 From: thomaspeyrucain Date: Thu, 14 Aug 2025 17:50:50 +0200 Subject: [PATCH 1/2] Fix ERROR stream + check only active controllers --- .../src/controller_manager_plugin.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp index 349a97d478..2f2667460a 100644 --- a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp +++ b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp @@ -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) { 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) From 9deba66bec876d3c3a4e6f8c154fc698ad97dc11 Mon Sep 17 00:00:00 2001 From: "thomas.peyrucain" Date: Fri, 23 Jan 2026 10:56:33 +0100 Subject: [PATCH 2/2] pre-commit fix --- .../src/controller_manager_plugin.cpp | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp index 2f2667460a..4f24024725 100644 --- a/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp +++ b/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp @@ -598,9 +598,10 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan { if (isActive(controller) && controller.chain_connections.size() > 1) { - RCLCPP_ERROR_STREAM(getLogger(), - "Controller with name " << controller.name << " chains to more than one controller. " - "Chaining to more than one controller is not supported."); + RCLCPP_ERROR_STREAM(getLogger(), "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)