Add `cleanup_controller` service and method to controller manager and also add its CLI script

destogl commented 2 years ago

Background

Better support for controller's lifecycle, that is the same as for the Lifecycle node. To transition between inactive and unconfigured state, we should provide service that enables that. The event name is cleanup.

Do the following:

Add new method cleanup controller in the controller manager.
Copy cleanup content form the unload_controller method.
Add new service called cleanup_controller in the CM.
Add new CLI for this function, i.e., enable setting in unconfigured state controller from CLI.

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MOLOCH-dev commented 1 year ago

Hi, I'd like to take up this issue. Could you please assign it to me @destogl

bailaC commented 11 months ago

@destogl , I can pick this.

bailaC commented 10 months ago

https://github.com/ros-controls/ros2_control/pull/1236

ros-controls / ros2_control