From 3cde0e14213af7df388d533626b4505d48a36823 Mon Sep 17 00:00:00 2001 From: thomaspeyrucain <87322480+thomaspeyrucain@users.noreply.github.com> Date: Mon, 26 Jan 2026 17:42:43 +0100 Subject: [PATCH] Fix ERROR stream + check only active controllers for multiple chained controllers (#3556) (cherry picked from commit 848c062a0454b104b72cb038d641a9eb0531f317) --- .../src/controller_manager_plugin.cpp | 9 +++++---- 1 file changed, 5 insertions(+), 4 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..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 @@ -596,11 +596,12 @@ 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."); + 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)