message: Only set controller_active flag to false if the requested resources are different from the currently obtained ones
diff: @@ -331,10 +331,13 @@ bool FrankaHW::prepareSwitch(const std::list<hardware_interface::ControllerInfo>
  return false;
  }
  - ROS_INFO_STREAM("FrankaHW: Prepared switching controllers to " << requested_control_mode);
  + if (current_control_mode_ != requested_control_mode) {
  + ROS_INFO_STREAM("FrankaHW: Prepared switching controllers to "
  + << requested_control_mode);
  current_control_mode_ = requested_control_mode;
  controller_active_ = false;
  + }
  return true;
  }
  