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Fix the teardown of the diff_drive_controller test (backport #2183) #2186

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Merged
christophfroehlich merged 1 commit into from
Feb 25, 2026
Merged

Fix the teardown of the diff_drive_controller test (backport #2183) #2186

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9 changes: 9 additions & 0 deletions diff_drive_controller/test/test_diff_drive_controller.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -101,6 +101,15 @@ class TestDiffDriveController : public ::testing::Test
controller_name + "/cmd_vel", rclcpp::SystemDefaultsQoS());
}

void TearDown() override
{
// Reset the controller before the fixture is destroyed to ensure the controller's
// shutdown transition (which clears loaned interfaces) runs while the underlying
// StateInterface/CommandInterface objects are still alive. LoanedStateInterface stores
// a const reference (not a shared_ptr), so destruction order matters.
controller_.reset();
}

static void TearDownTestCase() { rclcpp::shutdown(); }

/// Publish velocity msgs
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9 changes: 9 additions & 0 deletions omni_wheel_drive_controller/test/test_omni_wheel_drive_controller.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -99,6 +99,15 @@ class OmniWheelDriveControllerFixture : public ::testing::Test
"/test_omni_wheel_drive_controller/cmd_vel", rclcpp::SystemDefaultsQoS());
}

void TearDown() override
{
// Reset the controller before the fixture is destroyed to ensure the controller's
// shutdown transition (which clears loaned interfaces) runs while the underlying
// StateInterface/CommandInterface objects are still alive. LoanedStateInterface stores
// a const reference (not a shared_ptr), so destruction order matters.
controller_.reset();
}

static void TearDownTestCase() { rclcpp::shutdown(); }

protected:
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