added "destructor functions"

Author: Tomas Baca

src/failsafe_controller.cpp

@@ -38,6 +38,8 @@ class FailsafeController : public mrs_uav_managers::Controller {
 public:
   bool initialize(const rclcpp::Node::SharedPtr &node, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
 
+  void destroy();
+
   bool activate(const ControlOutput &last_control_output);
 
   void deactivate(void);
@@ -200,6 +202,14 @@ bool FailsafeController::initialize(const rclcpp::Node::SharedPtr &node, std::sh
 
 //}
 
+/* destroy() //{ */
+
+void FailsafeController::destroy() {
+
+}
+
+//}
+
 /* activate() //{ */
 
 bool FailsafeController::activate(const ControlOutput &last_control_output) {

src/midair_activation_controller.cpp

@@ -28,6 +28,8 @@ class MidairActivationController : public mrs_uav_managers::Controller {
 public:
   bool initialize(const rclcpp::Node::SharedPtr &node, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
 
+  void destroy();
+
   bool activate(const ControlOutput &last_control_output);
 
   void deactivate(void);
@@ -130,6 +132,14 @@ bool MidairActivationController::initialize(const rclcpp::Node::SharedPtr &node,
 
 //}
 
+/* destroy() //{ */
+
+void MidairActivationController::destroy() {
+
+}
+
+//}
+
 /* activate() //{ */
 
 bool MidairActivationController::activate([[maybe_unused]] const ControlOutput &last_control_output) {

src/mpc_controller.cpp

@@ -74,6 +74,8 @@ class MpcController : public mrs_uav_managers::Controller {
 public:
   bool initialize(const rclcpp::Node::SharedPtr &node, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
 
+  void destroy();
+
   bool activate(const ControlOutput &last_control_output);
 
   void deactivate(void);
@@ -608,6 +610,15 @@ bool MpcController::initialize(const rclcpp::Node::SharedPtr &node, std::shared_
 
 //}
 
+/* destroy() //{ */
+
+void MpcController::destroy() {
+
+  timer_gains_->stop();
+}
+
+//}
+
 /* //{ activate() */
 
 bool MpcController::activate(const ControlOutput &last_control_output) {

src/se3_controller.cpp

@@ -78,6 +78,8 @@ class Se3Controller : public mrs_uav_managers::Controller {
 public:
   bool initialize(const rclcpp::Node::SharedPtr& node, std::shared_ptr<mrs_uav_managers::control_manager::CommonHandlers_t> common_handlers, std::shared_ptr<mrs_uav_managers::control_manager::PrivateHandlers_t> private_handlers);
 
+  void destroy();
+
   bool activate(const ControlOutput& last_control_output);
 
   void deactivate(void);
@@ -638,6 +640,15 @@ bool Se3Controller::initialize(const rclcpp::Node::SharedPtr& node, std::shared_
 
 //}
 
+/* destroy() //{ */
+
+void Se3Controller::destroy() {
+
+  timer_gains_->stop();
+}
+
+//}
+
 /* //{ activate() */
 
 bool Se3Controller::activate(const ControlOutput& last_control_output) {