Update controller_manager_plugin.cpp

[wizard-coder]

Fixing the bug where the namespace is not properly applied when using Ros2ControlMultiManager

Description

When using two ROS2 controls, the namespace is automatically detected, but the namespace is not properly applied when registering the action client.

For more details, please refer to #3150

[mikeferguson]

@wizard-coder - I reviewed the ticket as well - can you post the contents of ros2_controllers.left.yaml either here or on the original ticket? (I see you have the full launch file posted, but not the config).

[mikeferguson]

As a note - this logic has been touched quite a bit in the past:

• reading namespace from parameter #1833
• Simplify controller manager namespacing #2210
• Then 2210 is reverted in d404c76

[wizard-coder]

The contents of the config file are as follows:

ros2_contollers.left.yaml

/**/controller_manager:
  ros__parameters:
    update_rate: 100 # Hz

    arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

/**/arm_controller:
  ros__parameters:
    joints:
      - left_joint0
      - left_joint1
      - left_joint2
      - left_joint3
      - left_joint4
      - left_joint5
      - left_joint6
    command_interfaces:
      - position
    state_interfaces:
      - position
    allow_nonzero_velocity_at_trajectory_end: true

/**/joint_state_broadcaster:
  ros__parameters:
    joints:
      - left_joint0
      - left_joint1
      - left_joint2
      - left_joint3
      - left_joint4
      - left_joint5
      - left_joint6

    interfaces:
      - position

ros2_controllers.right.yaml

/**/controller_manager:
  ros__parameters:
    update_rate: 100 # Hz

    arm_controller:
      type: joint_trajectory_controller/JointTrajectoryController

    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster

/**/arm_controller:
  ros__parameters:
    joints:
      - right_joint0
      - right_joint1
      - right_joint2
      - right_joint3
      - right_joint4
      - right_joint5
      - right_joint6
    command_interfaces:
      - position
    state_interfaces:
      - position
    allow_nonzero_velocity_at_trajectory_end: true

/**/joint_state_broadcaster:
  ros__parameters:
    joints:
      - right_joint0
      - right_joint1
      - right_joint2
      - right_joint3
      - right_joint4
      - right_joint5
      - right_joint6

    interfaces:
      - position

[wizard-coder]

As a note - this logic has been touched quite a bit in the past:

• reading namespace from parameter #1833
• Simplify controller manager namespacing #2210
• Then 2210 is reverted in d404c76

In the case of Ros2ControlManager, since ns_ is initialized as an empty string, I believe it should be initialized from the ros_control_namespace parameter. However, in the case of Ros2ControlMultiManager, it first finds the namespaces and then initializes ns_ through the Ros2ControlManager(const std::string& ns) initialization function. Therefore, since ns_ is already set at this point, I believe the initialization via ros_control_namespace should be ignored.

[mikeferguson]

However, in the case of Ros2ControlMultiManager, it first finds the namespaces and then initializes ns_ through the Ros2ControlManager(const std::string& ns) initialization function

There we go - that's the part I was missing as to how you were getting the ns_ set initially - thanks.

[codecov-commenter]

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Codecov Report

Attention: Patch coverage is 0% with 1 line in your changes missing coverage. Please review.

Project coverage is 45.62%. Comparing base (75286c7) to head (ef6a7c7).
Report is 9 commits behind head on main.

Files with missing lines	Patch %	Lines
...ontrol_interface/src/controller_manager_plugin.cpp	0.00%	1 Missing ⚠️

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Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3179      +/-   ##
==========================================
- Coverage   46.01%   45.62%   -0.39%     
==========================================
  Files         714      714              
  Lines       62304    62279      -25     
  Branches     7532     7528       -4     
==========================================
- Hits        28666    28406     -260     
- Misses      33471    33706     +235     
  Partials      167      167              

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[JafarAbdi]

Thanks for the fix! I had a similar patch a while back, but I was waiting until I get time to add tests 🫠

It would be really good to add integration tests for this package, I think this's the 3 PR that try to fix the namespacing for Ros2ControlManager 😿

[sjahr]

Thanks!

[sea-bass]

Does this need backports? I didn't look at this PR, so would appreciate @sjahr and @JafarAbdi if you guys could make that call here.

I kicked off the backport PRs and you guys can review/merge/close them