[ForwardCommandController] Fix the duplicate command interface types when reconfiguring the controller (#1568)

saikishor · web-flow · commit 82c46ac4ad87 · 2025-03-04T10:07:46.000+01:00
diff --git a/forward_command_controller/src/forward_command_controller.cpp b/forward_command_controller/src/forward_command_controller.cpp
@@ -45,6 +45,7 @@ controller_interface::CallbackReturn ForwardCommandController::read_parameters()
     return controller_interface::CallbackReturn::ERROR;
   }
 
+  command_interface_types_.clear();
   for (const auto & joint : params_.joints)
   {
     command_interface_types_.push_back(joint + "/" + params_.interface_name);

Original file line number	Diff line number	Diff line change
`@@ -45,6 +45,7 @@ controller_interface::CallbackReturn ForwardCommandController::read_parameters()`
`45`	`45`	`return controller_interface::CallbackReturn::ERROR;`
`46`	`46`	`}`
`47`	`47`
	`48`	`+ command_interface_types_.clear();`
`48`	`49`	`for (const auto & joint : params_.joints)`
`49`	`50`	`{`
`50`	`51`	`command_interface_types_.push_back(joint + "/" + params_.interface_name);`