Add consistent transitions for controllers in rqt_controller_manager (#2163)

Author: soham2560

rqt_controller_manager/rqt_controller_manager/controller_manager.py

@@ -228,19 +228,23 @@ def _on_ctrl_menu(self, pos):
         # Show context menu
         menu = QMenu(self._widget.ctrl_table_view)
         if ctrl.state == "active":
-            action_deactivate = menu.addAction(self._icons["inactive"], "Deactivate")
-            action_kill = menu.addAction(self._icons["unloaded"], "Deactivate and Unload")
+            action_deactivate = menu.addAction(self._icons["inactive"], "Deactivate (inactive)")
+            action_kill = menu.addAction(
+                self._icons["unloaded"], "Deactivate and Unload (unloaded)"
+            )
         elif ctrl.state == "inactive":
-            action_activate = menu.addAction(self._icons["active"], "Activate")
-            action_cleanup = menu.addAction(self._icons["unconfigured"], "Cleanup")
+            action_activate = menu.addAction(self._icons["active"], "Activate (active)")
+            action_cleanup = menu.addAction(
+                self._icons["unconfigured"], "Unload and Load (unconfigured)"
+            )
+            action_unload = menu.addAction(self._icons["unloaded"], "Unload (unloaded)")
         elif ctrl.state == "unconfigured":
-            action_configure = menu.addAction(self._icons["inactive"], "Configure")
-            action_spawn = menu.addAction(self._icons["active"], "Configure and Activate")
+            action_spawn = menu.addAction(self._icons["active"], "Configure and Activate (active)")
+            action_configure = menu.addAction(self._icons["inactive"], "Configure (inactive)")
+            action_unload = menu.addAction(self._icons["unloaded"], "Unload (unloaded)")
         else:
             # Controller isn't loaded
-            action_load = menu.addAction(self._icons["unconfigured"], "Load")
-            action_configure = menu.addAction(self._icons["inactive"], "Load and Configure")
-            action_activate = menu.addAction(self._icons["active"], "Load, Configure and Activate")
+            action_load = menu.addAction(self._icons["unconfigured"], "Load (unconfigured)")
 
         action = menu.exec_(self._widget.ctrl_table_view.mapToGlobal(pos))
 
@@ -256,25 +260,23 @@ def _on_ctrl_menu(self, pos):
                 self._activate_controller(ctrl.name)
             elif action is action_cleanup:
                 # TODO: use cleanup service once available
+                # https://github.com/ros-controls/ros2_control/issues/759
                 unload_controller(self._node, self._cm_name, ctrl.name)
                 load_controller(self._node, self._cm_name, ctrl.name)
+            elif action is action_unload:
+                unload_controller(self._node, self._cm_name, ctrl.name)
         elif ctrl.state == "unconfigured":
             if action is action_configure:
                 configure_controller(self._node, self._cm_name, ctrl.name)
             elif action is action_spawn:
                 configure_controller(self._node, self._cm_name, ctrl.name)
                 self._activate_controller(ctrl.name)
+            elif action is action_unload:
+                unload_controller(self._node, self._cm_name, ctrl.name)
         else:
             # Assume controller isn't loaded
             if action is action_load:
                 load_controller(self._node, self._cm_name, ctrl.name)
-            elif action is action_configure:
-                load_controller(self._node, self._cm_name, ctrl.name)
-                configure_controller(self._node, self._cm_name, ctrl.name)
-            elif action is action_activate:
-                load_controller(self._node, self._cm_name, ctrl.name)
-                configure_controller(self._node, self._cm_name, ctrl.name)
-                self._activate_controller(ctrl.name)
 
     def _on_ctrl_info(self, index):
         popup = self._popup_widget