From 80bdfcb00a535fb0c754193b25910f16d20fa351 Mon Sep 17 00:00:00 2001
From: Vincent Belpois <vincent.belpois@gmail.com>
Date: Thu, 2 May 2024 20:13:18 +0200
Subject: [PATCH] Changed launch delays and how the robot description is passed

---
 src/ezbot_robot/launch/real_robot.launch.py | 15 ++++++++-------
 1 file changed, 8 insertions(+), 7 deletions(-)

diff --git a/src/ezbot_robot/launch/real_robot.launch.py b/src/ezbot_robot/launch/real_robot.launch.py
index b5152a3..0d16248 100644
--- a/src/ezbot_robot/launch/real_robot.launch.py
+++ b/src/ezbot_robot/launch/real_robot.launch.py
@@ -48,12 +48,13 @@ def generate_launch_description():
     #controller_params_file = os.path.join(get_package_share_directory('ezbot_robot'), 'config', 'controllers.yaml')
     controller_params_file = os.path.join(get_package_share_directory('ezbot_robot'), 'config', 'omnidirectional_controller.yaml')
 
- 
+    robot_description = Command(['ros2 param get --hide-type /robot_state_publisher robot_description'])
+
+
     controller_manager = Node(
         package="controller_manager",
         executable="ros2_control_node",
-        parameters=[controller_params_file],
-        remappings = [('/controller_manager/robot_description', '/robot_description')],
+        parameters=[robot_description],
     )
 
 
@@ -61,7 +62,7 @@ def generate_launch_description():
 
 
     delayed_controller_manager = TimerAction(
-        period=2.0,
+        period=7.0,
         actions=[controller_manager],
     )
 
@@ -72,7 +73,7 @@ def generate_launch_description():
         arguments=['omnidirectional_controller'],
     )
     delayed_omnidrive_spawner = TimerAction(
-        period=1.0,
+        period=10.0,
         actions=[omnidrive_spawner],
     )
 
@@ -82,7 +83,7 @@ def generate_launch_description():
         arguments=['joint_state_broadcaster'],
     )
     delayed_joint_broad_spawner = TimerAction(
-        period=1.0,
+        period=11.0,
         actions=[joint_broad_spawner],
     )   
 
@@ -93,7 +94,7 @@ def generate_launch_description():
     )
 
     delayed_actuators_spawner = TimerAction(
-        period=1.0,
+        period=12.0,
         actions=[actuators_spawner],
     )