Fix segfault at reconfigure of AdmittanceController (#1248) (#1266)

mergify[bot] · web-flow · commit e0c8690b923e · 2024-08-22T16:26:19.000+01:00
diff --git a/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp b/admittance_controller/include/admittance_controller/admittance_rule_impl.hpp
@@ -45,11 +45,17 @@ controller_interface::return_type AdmittanceRule::configure(
   {
     try
     {
+      // Make sure we destroy the interface first. Otherwise we might run into a segfault
+      if (kinematics_loader_)
+      {
+        kinematics_.reset();
+      }
       kinematics_loader_ =
         std::make_shared<pluginlib::ClassLoader<kinematics_interface::KinematicsInterface>>(
           parameters_.kinematics.plugin_package, "kinematics_interface::KinematicsInterface");
       kinematics_ = std::unique_ptr<kinematics_interface::KinematicsInterface>(
         kinematics_loader_->createUnmanagedInstance(parameters_.kinematics.plugin_name));
+
       if (!kinematics_->initialize(
             node->get_node_parameters_interface(), parameters_.kinematics.tip))
       {

Original file line number	Diff line number	Diff line change
`@@ -45,11 +45,17 @@ controller_interface::return_type AdmittanceRule::configure(`
`45`	`45`	`{`
`46`	`46`	`try`
`47`	`47`	`{`
	`48`	`+ // Make sure we destroy the interface first. Otherwise we might run into a segfault`
	`49`	`+ if (kinematics_loader_)`
	`50`	`+ {`
	`51`	`+ kinematics_.reset();`
	`52`	`+ }`
`48`	`53`	`kinematics_loader_ =`
`49`	`54`	`std::make_shared<pluginlib::ClassLoader<kinematics_interface::KinematicsInterface>>(`
`50`	`55`	`parameters_.kinematics.plugin_package, "kinematics_interface::KinematicsInterface");`
`51`	`56`	`kinematics_ = std::unique_ptr<kinematics_interface::KinematicsInterface>(`
`52`	`57`	`kinematics_loader_->createUnmanagedInstance(parameters_.kinematics.plugin_name));`
	`58`	`+`
`53`	`59`	`if (!kinematics_->initialize(`
`54`	`60`	`node->get_node_parameters_interface(), parameters_.kinematics.tip))`
`55`	`61`	`{`