fixup! Ask for forgiveness, not permission Aligns spawner and unspawn…

…er logic
ros-controls · Apr 16, 2024 · 2d93f82 · 2d93f82
1 parent 3515b82
commit 2d93f82
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diff --git a/controller_manager/controller_manager/hardware_spawner.py b/controller_manager/controller_manager/hardware_spawner.py
@@ -119,14 +119,6 @@ def main(args=None):
         default="controller_manager",
         required=False,
     )
-    parser.add_argument(
-        "--controller-manager-timeout",
-        help="Time to wait for the controller manager",
-        required=False,
-        default=10,
-        type=int,
-    )
-
     # add arguments which are mutually exclusive
     activate_or_confiigure_grp.add_argument(
         "--activate",
@@ -144,7 +136,6 @@ def main(args=None):
     command_line_args = rclpy.utilities.remove_ros_args(args=sys.argv)[1:]
     args = parser.parse_args(command_line_args)
     controller_manager_name = args.controller_manager
-    controller_manager_timeout = args.controller_manager_timeout
     hardware_component = [args.hardware_component_name]
     activate = args.activate
     configure = args.configure

diff --git a/controller_manager/controller_manager/spawner.py b/controller_manager/controller_manager/spawner.py
@@ -130,13 +130,6 @@ def main(args=None):
         help="Wait until this application is interrupted and unload controller",
         action="store_true",
     )
-    parser.add_argument(
-        "--controller-manager-timeout",
-        help="Time to wait for the controller manager",
-        required=False,
-        default=10,
-        type=int,
-    )
     parser.add_argument(
         "--activate-as-group",
         help="Activates all the parsed controllers list together instead of one by one."
@@ -152,7 +145,6 @@ def main(args=None):
     controller_namespace = args.namespace
     param_file = args.param_file
     controller_type = args.controller_type
-    controller_manager_timeout = args.controller_manager_timeout
 
     if param_file and not os.path.isfile(param_file):
         raise FileNotFoundError(errno.ENOENT, os.strerror(errno.ENOENT), param_file)

diff --git a/controller_manager/doc/userdoc.rst b/controller_manager/doc/userdoc.rst
@@ -145,7 +145,6 @@ There are two scripts to interact with controller manager from launch files:
 
     $ ros2 run controller_manager spawner -h
     usage: spawner [-h] [-c CONTROLLER_MANAGER] [-p PARAM_FILE] [-n NAMESPACE] [--load-only] [--inactive] [-t CONTROLLER_TYPE] [-u]
-                      [--controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT]
                       controller_name
 
     positional arguments:
@@ -164,8 +163,6 @@ There are two scripts to interact with controller manager from launch files:
       -t CONTROLLER_TYPE, --controller-type CONTROLLER_TYPE
                             If not provided it should exist in the controller manager namespace
       -u, --unload-on-kill  Wait until this application is interrupted and unload controller
-      --controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT
-                            Time to wait for the controller manager
 
 
 ``unspawner``