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Fix controller sorting issue while loading large number of controllers #1180

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merged 7 commits into from
Dec 3, 2023
Merged

Fix controller sorting issue while loading large number of controllers #1180

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008ae6f
added test to reproduce the behavior of crashing on large number of c…
saikishor Nov 24, 2023
47516f3
Added tests for complex scenarios such as every joint has a chainable…
saikishor Nov 24, 2023
cfc5cdd
fix the bug in the test controller chain formulation
saikishor Nov 24, 2023
16cdd84
switch to stable_sort to avoid crashing on edge cases
saikishor Nov 24, 2023
2e32546
fix the sorting logic for complex and large use-cases (fixes #1170)
saikishor Nov 24, 2023
65bdba0
Add 20 broadcasters + 20 normal controllers to large_chained_controll…
saikishor Nov 29, 2023
aa12d26
simplifying the sorting logic
saikishor Nov 29, 2023
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13 changes: 11 additions & 2 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -777,7 +777,7 @@ controller_interface::return_type ControllerManager::configure_controller(
to = from;

// Reordering the controllers
std::sort(
std::stable_sort(
to.begin(), to.end(),
std::bind(
&ControllerManager::controller_sorting, this, std::placeholders::_1, std::placeholders::_2,
Expand Down Expand Up @@ -2453,7 +2453,16 @@ bool ControllerManager::controller_sorting(
{
// The case of the controllers that don't have any command interfaces. For instance,
// joint_state_broadcaster
return true;
// If the controller b is also under the same condition, then maintain their initial order
if (ctrl_b.c->command_interface_configuration().names.empty() || !ctrl_b.c->is_chainable())
return false;
else
return true;
}
else if (ctrl_b.c->command_interface_configuration().names.empty() || !ctrl_b.c->is_chainable())
{
// If only the controller b is a broadcaster or non chainable type , then swap the controllers
return false;
}
else
{
Expand Down
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