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Fix: preserve planar joint suffix in Ros2ControlManager (Fixes #3594) #3601

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Fix: preserve planar joint suffix in Ros2ControlManager (Fixes #3594) #3601

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5c80bcb
Fix: preserve planar joint suffix in Ros2ControlManager (Fixes #3594)
saumanraaj Oct 21, 2025
0430709
Merge branch 'main' into fix/ros2control-planar-suffix
saumanraaj Oct 22, 2025
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10 changes: 5 additions & 5 deletions moveit_plugins/moveit_ros_control_interface/src/controller_manager_plugin.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -76,12 +76,12 @@ rclcpp::Logger getLogger()
* @param[in] claimed_interface claimed interface as joint_name/INTERFACE_TYPE
* @return joint_name part of the /p claimed_interface
*/
std::string parseJointNameFromResource(const std::string& claimed_interface)
static std::string parseJointNameFromResource(const std::string& claimed_interface)
{
const auto index = claimed_interface.find('/');
if (index == std::string::npos)
return claimed_interface;
return claimed_interface.substr(0, index);
const auto last = claimed_interface.rfind('/');
if (last == std::string::npos)
return claimed_interface; // no interface segment present
return claimed_interface.substr(0, last); // preserve multi-DOF suffix; strip only interface
}

/**
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