Fix ERROR stream + check only active controllers for multiple chained controllers

[thomaspeyrucain]

Description

Hello Moveit Team,

When trying to control TIAGo Pro using moveit in Rviz I got this error:

[move_group-1] [ERROR] [1755075355.583941867] [moveit.plugins.ros_control_interface]: Controller with name %s chains to more than one controller. Chaining to more than one controller is not supported.
[move_group-1] [ERROR] [1755075355.584044598] [moveit_ros.trajectory_execution_manager]: Unable to identify any set of controllers that can actuate the specified joints: [ arm_left_1_joint arm_left_2_joint arm_left_3_joint arm_left_4_joint arm_left_5_joint arm_left_6_joint arm_left_7_joint ]
[move_group-1] [ERROR] [1755075355.584057241] [moveit_ros.trajectory_execution_manager]: Known controllers and their joints:
[move_group-1] 

This was due to a controller that is expected to be chained to several other controllers to be able to work, however this controller is not active when I did the test, it is just spawned by default in inactive

My change is to check chained controller only for active controllers and to fix the error message

Would this work or you prefer this to be fixed differently ?

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[thomaspeyrucain]

Hello @henningkayser @tylerjw ,
Would it be possible to review this MR ?

[github-actions]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[thomaspeyrucain]

Hello,
I could not find a way to perform the test asked as I would need to change how the code is written and change the way it works

I wanted to add a test where 3 controllers A, B and C with C chained to A and B
If you activate A and B it should work but if you activate C it should fail; however the code is made in a way that it is not sure what part failed as this part of the code is not returning True or False

moveit2/moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp

Lines 207 to 211 in 5a8ef4d

	auto result = result_future.get();
	if (!Ros2ControlManager::fixChainedControllers(result))
	{
	return;
	}

[MarqRazz]

Bummer we can't make a test.

[MarqRazz]

Looks like you need to run pre-commit to fix the Formatting test @thomaspeyrucain

[codecov]

Codecov Report

❌ Patch coverage is 50.00000% with 1 line in your changes missing coverage. Please review.
✅ Project coverage is 46.22%. Comparing base (5a8ef4d) to head (9deba66).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
...ontrol_interface/src/controller_manager_plugin.cpp	50.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3556      +/-   ##
==========================================
- Coverage   46.23%   46.22%   -0.00%     
==========================================
  Files         726      726              
  Lines       59484    59483       -1     
  Branches     7625     7624       -1     
==========================================
- Hits        27495    27492       -3     
- Misses      31822    31825       +3     
+ Partials      167      166       -1     

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[thomaspeyrucain]

• Waiting on 1 reapproval from someone other than the last pusher. Review from MarqRazz is stale because it was submitted before the most recent code changes

Done, Thanks ^^

[nbbrooks]

@mergify backport humble

[mergify]

backport humble

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[nbbrooks]

@mergify backport jazzy

[nbbrooks]

@mergify backport kilted

[mergify]

backport jazzy

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[mergify]

backport kilted

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[nbbrooks]

@mergify backport humble

[mergify]

backport humble

✅ Backports have been created

Details

• #3766 Fix ERROR stream + check only active controllers for multiple chained controllers (backport #3556) has been created for branch humble but encountered conflicts

Cherry-pick of 848c062 has failed:

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	both modified:   moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp

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[nbbrooks]

@mergify backport jazzy

[nbbrooks]

@mergify backport kilted

[mergify]

backport jazzy

✅ Backports have been created

Details

• #3767 Fix ERROR stream + check only active controllers for multiple chained controllers (backport #3556) has been created for branch jazzy

[mergify]

backport kilted

✅ Backports have been created

Details

• #3768 Fix ERROR stream + check only active controllers for multiple chained controllers (backport #3556) has been created for branch kilted