Fix -Wreturn-local-addr compiler warning (ros-controls#2628) (ros-controls#2631)

mergify[bot] · web-flow · commit a5786747da83 · 2025-10-07T22:19:36.000+02:00
diff --git a/controller_interface/src/controller_interface_base.cpp b/controller_interface/src/controller_interface_base.cpp
@@ -194,12 +194,10 @@ const rclcpp_lifecycle::State & ControllerInterfaceBase::configure()
     async_params.initialize(node_, "async_parameters.");
     if (async_params.scheduling_policy == realtime_tools::AsyncSchedulingPolicy::DETACHED)
     {
-      const rclcpp_lifecycle::State unconfigured_state(
-        lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, "unconfigured");
       RCLCPP_ERROR(
         get_node()->get_logger(),
         "The controllers are not supported to run asynchronously in detached mode!");
-      return unconfigured_state;
+      return get_node()->get_current_state();
     }
     RCLCPP_INFO(
       get_node()->get_logger(), "Starting async handler with scheduler priority: %d",

Original file line number	Diff line number	Diff line change
`@@ -194,12 +194,10 @@ const rclcpp_lifecycle::State & ControllerInterfaceBase::configure()`
`194`	`194`	`async_params.initialize(node_, "async_parameters.");`
`195`	`195`	`if (async_params.scheduling_policy == realtime_tools::AsyncSchedulingPolicy::DETACHED)`
`196`	`196`	`{`
`197`		`- const rclcpp_lifecycle::State unconfigured_state(`
`198`		`- lifecycle_msgs::msg::State::PRIMARY_STATE_UNCONFIGURED, "unconfigured");`
`199`	`197`	`RCLCPP_ERROR(`
`200`	`198`	`get_node()->get_logger(),`
`201`	`199`	`"The controllers are not supported to run asynchronously in detached mode!");`
`202`		`- return unconfigured_state;`
	`200`	`+ return get_node()->get_current_state();`
`203`	`201`	`}`
`204`	`202`	`RCLCPP_INFO(`
`205`	`203`	`get_node()->get_logger(), "Starting async handler with scheduler priority: %d",`