use intantiation instead of init_min_resource_manager()

Author: nibanovic

controller_manager/include/controller_manager/controller_manager.hpp

@@ -94,8 +94,6 @@ class ControllerManager : public rclcpp::Node
 
   void init_resource_manager(const std::string & robot_description);
 
-  void init_min_resource_manager();
-
   controller_interface::ControllerInterfaceBaseSharedPtr load_controller(
     const std::string & controller_name, const std::string & controller_type);
 

controller_manager/src/controller_manager.cpp

@@ -502,7 +502,7 @@ void ControllerManager::init_controller_manager()
   if (!is_resource_manager_initialized())
   {
     // fallback state
-    init_min_resource_manager();
+    resource_manager_ = std::make_unique<hardware_interface::ResourceManager>(trigger_clock_, get_logger());
     if (!robot_description_notification_timer_)
     {
       robot_description_notification_timer_ = create_wall_timer(
@@ -638,7 +638,7 @@ void ControllerManager::robot_description_callback(const std_msgs::msg::String &
   {
     // The RM failed to init AFTER we received the description - a critical error.
     // don't finalize controller manager, instead keep waiting for robot description - fallback state
-    init_min_resource_manager();
+    resource_manager_ = std::make_unique<hardware_interface::ResourceManager>(trigger_clock_, get_logger());
   } else 
   {
     RCLCPP_INFO(
@@ -842,12 +842,6 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
   }
 }
 
-void ControllerManager::init_min_resource_manager()
-{
-  resource_manager_ = std::make_unique<hardware_interface::ResourceManager>(trigger_clock_, get_logger());
-  resource_manager_->set_on_component_state_switch_callback(
-      std::bind(&ControllerManager::publish_activity, this));
-}
 
 void ControllerManager::init_services()
 {