Avoid deadlocks for failed command switching

saikishor · web-flow · commit a18aabcbf0a6 · 2025-11-03T11:01:05.000+01:00
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -2964,6 +2964,8 @@ void ControllerManager::manage_switch()
   {
     RCLCPP_ERROR(get_logger(), "Error while performing mode switch.");
     // If the hardware switching fails, there is no point in continuing to switch controllers
+    switch_params_.do_switch = false;
+    switch_params_.cv.notify_all();
     return;
   }
   execution_time_.switch_perform_mode_time =

Original file line number	Diff line number	Diff line change
`@@ -2964,6 +2964,8 @@ void ControllerManager::manage_switch()`
`2964`	`2964`	`{`
`2965`	`2965`	`RCLCPP_ERROR(get_logger(), "Error while performing mode switch.");`
`2966`	`2966`	`// If the hardware switching fails, there is no point in continuing to switch controllers`
	`2967`	`+ switch_params_.do_switch = false;`
	`2968`	`+ switch_params_.cv.notify_all();`
`2967`	`2969`	`return;`
`2968`	`2970`	`}`
`2969`	`2971`	`execution_time_.switch_perform_mode_time =`