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

saikishor · mergify[bot] · commit 979355748a9d · 2025-03-04T09:08:27.000Z
(cherry picked from commit 82c46ac)
diff --git a/forward_command_controller/src/forward_command_controller.cpp b/forward_command_controller/src/forward_command_controller.cpp
@@ -53,6 +53,7 @@ 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
`@@ -53,6 +53,7 @@ controller_interface::CallbackReturn ForwardCommandController::read_parameters()`
`53`	`53`	`return controller_interface::CallbackReturn::ERROR;`
`54`	`54`	`}`
`55`	`55`
	`56`	`+ command_interface_types_.clear();`
`56`	`57`	`for (const auto & joint : params_.joints)`
`57`	`58`	`{`
`58`	`59`	`command_interface_types_.push_back(joint + "/" + params_.interface_name);`