Fix controller_manager_plugin for multi controllers managers

JafarAbdi · Nov 6, 2024 · f97a22c · f97a22c
1 parent cdaf638
commit f97a22c
Showing 1 changed file with 3 additions and 7 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
@@ -258,13 +258,12 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan
   Ros2ControlManager(const std::string& ns)
     : ns_(ns), loader_("moveit_ros_control_interface", "moveit_ros_control_interface::ControllerHandleAllocator")
   {
-    RCLCPP_INFO_STREAM(getLogger(), "Started moveit_ros_control_interface::Ros2ControlManager for namespace " << ns_);
   }
 
   void initialize(const rclcpp::Node::SharedPtr& node) override
   {
     node_ = node;
-    if (!ns_.empty())
+    if (ns_.empty())
     {
       if (!node_->has_parameter("ros_control_namespace"))
       {
@@ -275,11 +274,8 @@ class Ros2ControlManager : public moveit_controller_manager::MoveItControllerMan
         node_->get_parameter<std::string>("ros_control_namespace", ns_);
       }
     }
-    else if (node->has_parameter("ros_control_namespace"))
-    {
-      node_->get_parameter<std::string>("ros_control_namespace", ns_);
-      RCLCPP_INFO_STREAM(getLogger(), "Namespace for controller manager was specified, namespace: " << ns_);
-    }
+    RCLCPP_INFO_STREAM(getLogger(),
+                       "Initialized moveit_ros_control_interface::Ros2ControlManager for namespace " << ns_);
 
     list_controllers_service_ = node_->create_client<controller_manager_msgs::srv::ListControllers>(
         getAbsName("controller_manager/list_controllers"));