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 44.45%. Comparing base (e2d9dc5) to head (db529c0).

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   44.45%   44.45%   +0.01%     
==========================================
  Files         698      698              
  Lines       61561    61558       -3     
  Branches     7461     7459       -2     
==========================================
+ Hits        27360    27361       +1     
+ Misses      34033    34028       -5     
- Partials      168      169       +1     

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