Fix segfault at reconfigure of AdmittanceController (#1248)

(cherry picked from commit 31f7fbe)
ros-controls · Aug 22, 2024 · 4109384 · 4109384
1 parent 4198072
commit 4109384
Showing 1 changed file with 6 additions and 0 deletions.
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))
       {