Fix recursive naming of chainable controller interfaces - #3212
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vectorcrumb wants to merge 2 commits into
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Fix recursive naming of chainable controller interfaces#3212vectorcrumb wants to merge 2 commits into
vectorcrumb wants to merge 2 commits into
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When calling export_state_interfaces/export_reference_interfaces on a ChainableControllerInterface derived class, the controller name would get correctly prepended to the interface names. When calling those methods for a second (or more) time, the full name including the controller name would get prepended by the controller name. This would lead to interfaces like `my_controller/my_controller/s1`. This fix makes sure the reference/state interface name gets exported, rather than the entire interface name during calls to the export methods. It also includes a test for this specific case. Important to note that this issue only affects the interface from Kilted and before.
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April 12, 2026 23:14
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April 12, 2026 23:27
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Description
On releases targeting Kilted and before, when calling export_state_interfaces/export_reference_interfaces on a ChainableControllerInterface derived class, the controller name would get correctly prepended to the interface names. When calling those methods for a second (or more) time, the full name including the controller name would get prepended by the controller name. This would lead to interfaces like
my_controller/my_controller/s1.This fix makes sure the reference/state interface name gets exported, rather than the entire interface name during calls to the export methods. It also includes a test for this specific case.
Fixes #3211
Is this user-facing behavior change?
Did you use Generative AI?
Yes, this PR was aided by Claude Opus 4.6
Additional Information
This targets the older ChainableControllerInterface methods, from before Lyrical. Also, I'm not fully sure on the usefulness of the test, as this seems a very specific issue which wouldn't really get tested for (you wouldn't expect a feature to fail specifically by prepending its controller name constantly on its interface names)
TODOs
To send us a pull request, please:
colcon testandpre-commit run(requires you to install pre-commit bypip3 install pre-commit)