Update spawner to have a timeout on service call

In some cases, the service call might never return. As a consequence,
the call to spin_until_future_complete will loop infinitely.

controller_manager/controller_manager/controller_manager_services.py

@@ -28,7 +28,7 @@
 import rclpy
 
 
-def service_caller(node, service_name, service_type, request, service_timeout=10.0):
+def service_caller(node, service_name, service_type, request, service_timeout=10.0, call_timeout=10.0):
     cli = node.create_client(service_type, service_name)
 
     if not cli.service_is_ready():
@@ -40,14 +40,14 @@ def service_caller(node, service_name, service_type, request, service_timeout=10
 
     node.get_logger().debug(f"requester: making request: {request}\n")
     future = cli.call_async(request)
-    rclpy.spin_until_future_complete(node, future)
+    rclpy.spin_until_future_complete(node, future, timeout_sec=10.0)
     if future.result() is not None:
         return future.result()
     else:
         raise RuntimeError(f"Exception while calling service: {future.exception()}")
 
 
-def configure_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
+def configure_controller(node, controller_manager_name, controller_name, service_timeout=10.0, call_timeout=10.0):
     request = ConfigureController.Request()
     request.name = controller_name
     return service_caller(
@@ -59,51 +59,55 @@ def configure_controller(node, controller_manager_name, controller_name, service
     )
 
 
-def list_controllers(node, controller_manager_name, service_timeout=10.0):
+def list_controllers(node, controller_manager_name, service_timeout=10.0, call_timeout=10.0):
     request = ListControllers.Request()
     return service_caller(
         node,
         f"{controller_manager_name}/list_controllers",
         ListControllers,
         request,
         service_timeout,
+        call_timeout,
     )
 
 
-def list_controller_types(node, controller_manager_name, service_timeout=10.0):
+def list_controller_types(node, controller_manager_name, service_timeout=10.0, call_timeout=10.0):
     request = ListControllerTypes.Request()
     return service_caller(
         node,
         f"{controller_manager_name}/list_controller_types",
         ListControllerTypes,
         request,
         service_timeout,
+        call_timeout,
     )
 
 
-def list_hardware_components(node, controller_manager_name, service_timeout=10.0):
+def list_hardware_components(node, controller_manager_name, service_timeout=10.0, call_timeout=10.0):
     request = ListHardwareComponents.Request()
     return service_caller(
         node,
         f"{controller_manager_name}/list_hardware_components",
         ListHardwareComponents,
         request,
         service_timeout,
+        call_timeout,
     )
 
 
-def list_hardware_interfaces(node, controller_manager_name, service_timeout=10.0):
+def list_hardware_interfaces(node, controller_manager_name, service_timeout=10.0, call_timeout=10.0):
     request = ListHardwareInterfaces.Request()
     return service_caller(
         node,
         f"{controller_manager_name}/list_hardware_interfaces",
         ListHardwareInterfaces,
         request,
         service_timeout,
+        call_timeout,
     )
 
 
-def load_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
+def load_controller(node, controller_manager_name, controller_name, service_timeout=10.0, call_timeout=10.0):
     request = LoadController.Request()
     request.name = controller_name
     return service_caller(
@@ -112,10 +116,11 @@ def load_controller(node, controller_manager_name, controller_name, service_time
         LoadController,
         request,
         service_timeout,
+        call_timeout,
     )
 
 
-def reload_controller_libraries(node, controller_manager_name, force_kill, service_timeout=10.0):
+def reload_controller_libraries(node, controller_manager_name, force_kill, service_timeout=10.0, call_timeout=10.0):
     request = ReloadControllerLibraries.Request()
     request.force_kill = force_kill
     return service_caller(
@@ -124,11 +129,12 @@ def reload_controller_libraries(node, controller_manager_name, force_kill, servi
         ReloadControllerLibraries,
         request,
         service_timeout,
+        call_timeout,
     )
 
 
 def set_hardware_component_state(
-    node, controller_manager_name, component_name, lifecyle_state, service_timeout=10.0
+    node, controller_manager_name, component_name, lifecyle_state, service_timeout=10, call_timeout=10.0
 ):
     request = SetHardwareComponentState.Request()
     request.name = component_name
@@ -139,6 +145,7 @@ def set_hardware_component_state(
         SetHardwareComponentState,
         request,
         service_timeout,
+        call_timeout,
     )
 
 
@@ -165,7 +172,7 @@ def switch_controllers(
     )
 
 
-def unload_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
+def unload_controller(node, controller_manager_name, controller_name, service_timeout=10.0, call_timeout=10.0):
     request = UnloadController.Request()
     request.name = controller_name
     return service_caller(
@@ -174,4 +181,5 @@ def unload_controller(node, controller_manager_name, controller_name, service_ti
         UnloadController,
         request,
         service_timeout,
+        call_timeout,
     )