From b5372605397b59117bb55a1219f707d53b0c2fa3 Mon Sep 17 00:00:00 2001 From: Tony Najjar Date: Mon, 25 Nov 2024 19:20:44 +0100 Subject: [PATCH] rename Signed-off-by: Tony Najjar --- controller_manager/controller_manager/spawner.py | 14 +++++++------- controller_manager/doc/userdoc.rst | 4 ++-- doc/release_notes.rst | 2 +- 3 files changed, 10 insertions(+), 10 deletions(-) diff --git a/controller_manager/controller_manager/spawner.py b/controller_manager/controller_manager/spawner.py index 7afc2dc906..5d5e34e2a4 100644 --- a/controller_manager/controller_manager/spawner.py +++ b/controller_manager/controller_manager/spawner.py @@ -129,7 +129,7 @@ def main(args=None): type=float, ) parser.add_argument( - "--controller-manager-call-timeout", + "--service-call-timeout", help="Time to wait for the service response from the controller manager", required=False, default=10.0, @@ -149,7 +149,7 @@ def main(args=None): controller_manager_name = args.controller_manager param_file = args.param_file controller_manager_timeout = args.controller_manager_timeout - controller_manager_call_timeout = args.controller_manager_call_timeout + service_call_timeout = args.service_call_timeout switch_timeout = args.switch_timeout if param_file and not os.path.isfile(param_file): @@ -190,7 +190,7 @@ def main(args=None): controller_manager_name, controller_name, controller_manager_timeout, - controller_manager_call_timeout, + service_call_timeout, ): node.get_logger().warn( bcolors.WARNING @@ -228,7 +228,7 @@ def main(args=None): controller_manager_name, controller_name, controller_manager_timeout, - controller_manager_call_timeout, + service_call_timeout, ) if not ret.ok: node.get_logger().error( @@ -245,7 +245,7 @@ def main(args=None): True, True, switch_timeout, - controller_manager_call_timeout, + service_call_timeout, ) if not ret.ok: node.get_logger().error( @@ -270,7 +270,7 @@ def main(args=None): True, True, switch_timeout, - controller_manager_call_timeout, + service_call_timeout, ) if not ret.ok: node.get_logger().error( @@ -303,7 +303,7 @@ def main(args=None): True, True, switch_timeout, - controller_manager_call_timeout, + service_call_timeout, ) if not ret.ok: node.get_logger().error( diff --git a/controller_manager/doc/userdoc.rst b/controller_manager/doc/userdoc.rst index bb35a45999..ade33be47f 100644 --- a/controller_manager/doc/userdoc.rst +++ b/controller_manager/doc/userdoc.rst @@ -158,7 +158,7 @@ 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] [-u] [--controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT] - [--switch-timeout SWITCH_TIMEOUT] [--activate-as-group] [--controller-manager-call-timeout CONTROLLER_MANAGER_CALL_TIMEOUT] + [--switch-timeout SWITCH_TIMEOUT] [--activate-as-group] [--service-call-timeout service_call_timeout] controller_names [controller_names ...] positional arguments: @@ -177,7 +177,7 @@ There are two scripts to interact with controller manager from launch files: -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 service to be available - --controller-manager-call-timeout CONTROLLER_MANAGER_CALL_TIMEOUT + --service-call-timeout SERVICE_CALL_TIMEOUT Time to wait for the service response from the controller manager --switch-timeout SWITCH_TIMEOUT Time to wait for a successful state switch of controllers. Useful if controllers cannot be switched immediately, e.g., paused diff --git a/doc/release_notes.rst b/doc/release_notes.rst index fbc969e890..52fcf7cc20 100644 --- a/doc/release_notes.rst +++ b/doc/release_notes.rst @@ -81,7 +81,7 @@ controller_manager * The ``ros2_control_node`` node now accepts the ``thread_priority`` parameter to set the scheduler priority of the controller_manager's RT thread (`#1820 `_). * The ``ros2_control_node`` node has a new ``lock_memory`` parameter to lock memory at startup to physical RAM in order to avoid page faults (`#1822 `_). * The ``ros2_control_node`` node has a new ``cpu_affinity`` parameter to bind the process to a specific CPU core. By default, this is not enabled. (`#1852 `_). -* The ``--controller-manager-call-timeout`` was added as parameter to the helper scripts ``spawner.py``. Useful when the CPU load is high at startup and the service call does not return immediately (`#1808 `_). +* The ``--service-call-timeout`` was added as parameter to the helper scripts ``spawner.py``. Useful when the CPU load is high at startup and the service call does not return immediately (`#1808 `_). hardware_interface ******************