Handle on waiting #1562
Handle on waiting #1562
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Aligns spawner and unspawner logic
Co-authored-by: Christoph Fröhlich <[email protected]>
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DasRoteSkelett,
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erickisos,
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moriarty
| for controller_name in controller_names: | ||
| fallback_controllers = args.fallback_controllers | ||
| controller_type = args.controller_type | ||
| prefixed_controller_name = controller_name | ||
| if controller_namespace: | ||
| prefixed_controller_name = controller_namespace + "/" + controller_name | ||
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| if is_controller_loaded(node, controller_manager_name, prefixed_controller_name): | ||
| if is_controller_loaded( | ||
| node, controller_manager_name, prefixed_controller_name, timeout |
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timeout seems not to be defined here.
| @@ -225,7 +175,6 @@ def main(args=None): | |||
| controller_manager_name = args.controller_manager | |||
| controller_namespace = args.namespace | |||
| param_file = args.param_file | |||
| controller_manager_timeout = args.controller_manager_timeout | |||
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That line would need to stay probably
| if not cli.wait_for_service(service_timeout): | ||
| raise RuntimeError(f"Could not contact service {service_name}") | ||
| while not cli.service_is_ready(): | ||
| node.get_logger().debug(f"waiting for service {service_name} to become available...") |
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This should probably be an info and not a debug. If the spawner hangs there users should know.
I tested this PR locally and managed to end up in a deadlock here, which is basically why I went for this approach in my PR. I realized that I can reproduce this quite regularly when restarting my robot bringup right after stopping it.
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I think we should also jump out after some number of attempts
| if not cli.wait_for_service(service_timeout): | ||
| raise RuntimeError(f"Could not contact service {service_name}") | ||
| while not cli.service_is_ready(): | ||
| node.get_logger().debug(f"waiting for service {service_name} to become available...") |
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I think we should also jump out after some number of attempts
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This pull request is in conflict. Could you fix it @bmagyar? |
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We tested this PR (adding back in line 228 in controller_manager/controller_manager/spawner.py) and we were able to run ros2_control over a FastDDS discovery server. |
Conflict resolved from #1483