fix(controllers): write command interfaces on deactivation

.github/workflows/build-release.yaml

@@ -3,24 +3,12 @@ name: Build and release
 on:
   push:
     branches:
-      - main
+      - patch/v5.4.2
 
 jobs:
-  check-version:
-    name: Check if the version has been updated
-    outputs:
-      has_changed: ${{ steps.check.outputs.has_changed }}
-      version: ${{ steps.check.outputs.version }}
-    runs-on: ubuntu-latest
-    steps:
-      - uses: aica-technology/.github/.github/actions/check-version-toml@v1.0.2
-        id: check
-        with:
-          package_path: .
 
   metadata:
     name: Get metadata
-    needs: check-version
     runs-on: ubuntu-latest
     outputs:
       image_name: ${{ steps.ensure-image.outputs.image_name }}
@@ -34,19 +22,9 @@ jobs:
           image_name: aica-technology/modulo
 
       - run: |
-          CREATE_TAG=false
-          GIT_TAG=""
-          if [ ${{ needs.check-version.outputs.has_changed }} = 'true' ]; then
-            CREATE_TAG=true
-            GIT_TAG="v${{ needs.check-version.outputs.version }}"
-            if [[ "${GIT_TAG}" == *"-"* ]]; then
-              IMAGE_TAGS="${GIT_TAG}",rolling
-            else
-              IMAGE_TAGS=latest,"${GIT_TAG}",rolling
-            fi
-          else
-            IMAGE_TAGS=rolling
-          fi
+          IMAGE_TAGS=latest,"${GIT_TAG}"
+          CREATE_TAG=true
+          GIT_TAG="v5.4.2"
           echo "Image tags: ${IMAGE_TAGS}"
           echo "Create tag: ${CREATE_TAG}"
           echo "Git tag: ${GIT_TAG}"

CHANGELOG.md

@@ -2,6 +2,7 @@
 
 Release Versions:
 
+- [5.2.2](#542)
 - [5.4.1](#541)
 - [5.4.0](#540)
 - [5.3.0](#530)
@@ -26,6 +27,13 @@ Release Versions:
 - [2.1.1](#211)
 - [2.1.0](#210)
 
+## 5.4.2
+
+### May 28th, 2026
+
+Version 5.4.2 is a patch release that fixes a bug in the controller base class where the joint commands would not be
+written back to the hardware after deactivation.
+
 ## 5.4.1
 
 ### April 8th, 2026

aica-package.toml

@@ -1,7 +1,7 @@
 #syntax=ghcr.io/aica-technology/package-builder:v1.4.0
 
 [metadata]
-version = "5.4.1"
+version = "5.4.2"
 description = "Modular ROS 2 extension library for dynamic composition of components and controllers with the AICA robotics framework"
 
 [metadata.collection]

source/modulo_components/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_components</name>
-  <version>5.4.1</version>
+  <version>5.4.2</version>
   <description>Modulo base classes that wrap ROS 2 Nodes as modular components for the AICA application framework</description>
   <maintainer email="baptiste@aica.tech">Baptiste Busch</maintainer>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>

source/modulo_controllers/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>modulo_controllers</name>
-  <version>5.4.1</version>
+  <version>5.4.2</version>
   <description>Interface class for modulo controllers</description>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>
   <maintainer email="dominic@aica.tech">Dominic Reber</maintainer>

source/modulo_controllers/src/ControllerInterface.cpp

@@ -195,7 +195,14 @@ rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn Contro
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 ControllerInterface::on_deactivate(const rclcpp_lifecycle::State&) {
   try {
-    return on_deactivate();
+    if (auto ret = on_deactivate(); ret != CallbackReturn::SUCCESS) {
+      return ret;
+    }
+    if (write_command_interfaces(rclcpp::Duration(0s)) != controller_interface::return_type::OK) {
+      RCLCPP_ERROR(get_node()->get_logger(), "Failed to write command interfaces on deactivation.");
+      return CallbackReturn::ERROR;
+    }
+    return CallbackReturn::SUCCESS;
   } catch (const std::exception& ex) {
     RCLCPP_ERROR_STREAM(get_node()->get_logger(), ex.what());
   }

source/modulo_core/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_core</name>
-  <version>5.4.1</version>
+  <version>5.4.2</version>
   <description>Modulo Core communication and translation utilities for interoperability with AICA Control Libraries</description>
   <maintainer email="baptiste@aica.tech">Baptiste Busch</maintainer>
   <maintainer email="enrico@aica.tech">Enrico Eberhard</maintainer>

source/modulo_utils/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>modulo_utils</name>
-  <version>5.4.1</version>
+  <version>5.4.2</version>
   <description>Modulo utils package for shared test fixtures</description>
   <maintainer email="dominic@aica.tech">Dominic Reber</maintainer>
   <license>GPLv3</license>