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I have implemented a hardware interface in ros2_control and added code to free my hardware resources in the on_deactivate() method.

When I try to stop the controller with the command ros2 control set_controller_state diffbot_base_controller inactive and try to free the hardware, on_deactivate() doesn't seem to be called.

I can't find console output from deactivate, and the read/write method is still being called. Unlike before, only the value from hw_command_ is 0.

It's very confusing.Maybe I'm confused about the life cycle concept in controller_manager of ros2_control. I was hoping to get some tips or links to relevant materials.

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Be aware that hardware components and controllers are different parts of ros2_control. You try to deactivate the controller -> this does not deactivate the hardware component.

Lifecycle of hardware components is not 100% implemented as by now, and there are some issues with the current implementation. Moreover, controller won't be deactivated currently if you deactivate the hardware_component, where the controller claimed the interfaces.

Have a look at this draft example, which should make things more clear.

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  • $\begingroup$ I found the description about lifecycle of hardware on the site: Controller Manager — ROS2_Control: Humble Oct 2023 documentation. And it seems like there are no way to invoke the method on_deactivate() of hareware yet. $\endgroup$
    – Michael
    Commented Oct 25, 2023 at 3:13
  • $\begingroup$ no, the disclaimer of not being implemented is the automatic restart incl. controllers after returning false from read/write method of the hardware component. have you tried the service calls from the demo I linked above? $\endgroup$
    – Christoph Froehlich
    Commented Oct 26, 2023 at 6:03
  • $\begingroup$ It works! Thanks, I learned how to control the hardware lifecycle. But I'm confused about read/write methods: methods are still called when the hardware is inactive. $\endgroup$
    – Michael
    Commented Oct 27, 2023 at 8:43
  • $\begingroup$ the design draft is to be not able to control joints but secondary stuff like gpio commands etc also in inactive state. $\endgroup$
    – Christoph Froehlich
    Commented Oct 27, 2023 at 9:08

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