Optimized debug output in CM about interfaces when switching controll…

…ers.

controller_manager/src/controller_manager.cpp

@@ -877,14 +877,15 @@ controller_interface::return_type ControllerManager::switch_controller(
  strictness = controller_manager_msgs::srv::SwitchController::Request::BEST_EFFORT;
  }
 
- RCLCPP_DEBUG(get_logger(), "Switching controllers:");
+ RCLCPP_DEBUG(get_logger(), "Activating controllers:");
  for (const auto & controller : activate_controllers)
  {
- RCLCPP_DEBUG(get_logger(), "- Activating controller '%s'", controller.c_str());
+ RCLCPP_DEBUG(get_logger(), " - %s", controller.c_str());
  }
+ RCLCPP_DEBUG(get_logger(), "Deactivating controllers:");
  for (const auto & controller : deactivate_controllers)
  {
- RCLCPP_DEBUG(get_logger(), "- Deactivating controller '%s'", controller.c_str());
+ RCLCPP_DEBUG(get_logger(), " - %s", controller.c_str());
  }
 
  const auto list_controllers = [this, strictness](
@@ -1222,8 +1223,19 @@ controller_interface::return_type ControllerManager::switch_controller(
  return controller_interface::return_type::OK;
  }
 
- if (
- !activate_command_interface_request_.empty() || !deactivate_command_interface_request_.empty())
+ RCLCPP_DEBUG(get_logger(), "Request for command interfaces from activating controllers:");
+ for (const auto & interface : activate_command_interface_request_)
+ {
+ RCLCPP_DEBUG(get_logger(), " - %s", interface.c_str());
+ }
+ RCLCPP_DEBUG(get_logger(), "Request for command interfaces from deactivating controllers:");
+ for (const auto & interface : deactivate_command_interface_request_)
+ {
+ RCLCPP_DEBUG(get_logger(), " - %s", interface.c_str());
+ }
+
+ if (!resource_manager_->prepare_command_mode_switch(
+ activate_command_interface_request_, deactivate_command_interface_request_))
  {
  if (!resource_manager_->prepare_command_mode_switch(
  activate_command_interface_request_, deactivate_command_interface_request_))