Set back the original load_and_initialize_components

saikishor · saikishor · commit 9f059f3f660a · 2025-08-12T13:29:08.000+02:00
diff --git a/controller_manager/src/controller_manager.cpp b/controller_manager/src/controller_manager.cpp
@@ -635,7 +635,13 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript
   {
     resource_manager_->import_joint_limiters(robot_description_);
   }
-  if (!resource_manager_->load_and_initialize_components(robot_description, update_rate_))
+  hardware_interface::ResourceManagerParams params;
+  params.robot_description = robot_description;
+  params.clock = trigger_clock_;
+  params.logger = this->get_logger();
+  params.executor = executor_;
+  params.update_rate = static_cast<unsigned int>(params_->update_rate);
+  if (!resource_manager_->load_and_initialize_components(params))
   {
     RCLCPP_WARN(
       get_logger(),

Original file line number	Diff line number	Diff line change
`@@ -635,7 +635,13 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript`
`635`	`635`	`{`
`636`	`636`	`resource_manager_->import_joint_limiters(robot_description_);`
`637`	`637`	`}`
`638`		`- if (!resource_manager_->load_and_initialize_components(robot_description, update_rate_))`
	`638`	`+ hardware_interface::ResourceManagerParams params;`
	`639`	`+ params.robot_description = robot_description;`
	`640`	`+ params.clock = trigger_clock_;`
	`641`	`+ params.logger = this->get_logger();`
	`642`	`+ params.executor = executor_;`
	`643`	`+ params.update_rate = static_cast<unsigned int>(params_->update_rate);`
	`644`	`+ if (!resource_manager_->load_and_initialize_components(params))`
`639`	`645`	`{`
`640`	`646`	`RCLCPP_WARN(`
`641`	`647`	`get_logger(),`