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Delete .lock file after shutting down control node #2651

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Delete .lock file after shutting down control node #2651

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8a632f6
add workaround for persistent lock file
Oct 9, 2025
eb5431f
Merge branch 'ros-controls:master' into master
julianmueller Oct 9, 2025
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13 changes: 13 additions & 0 deletions controller_manager/controller_manager/spawner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -393,6 +393,19 @@ def main(args=None):
node.destroy_node()
if lock.is_locked:
lock.release()
# workaround for https://github.com/ros-controls/ros2_control/issues/2330
# the lock file is not automatically removed after termination, which hinders other users to start ros2control
if os.path.isfile(lock.lock_file):
try:
os.remove(lock.lock_file)
logger.info(
f"Lock file '{lock.lock_file}' explicitly removed after spawning "
+ bcolors.BOLD
+ controller_name
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Suggested change
+ controller_name
+ f"{controller_names}"

+ bcolors.ENDC
)
except PermissionError as err:
logger.fatal(str(err))
rclpy.shutdown()


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