[CM] Remove accepting robot description using parameter and harden the behavior when getting it from topic. #1237
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jaron-l,
mcbed,
olivier-stasse and
progtologist
…in inactive state." This reverts commit 485b25f.
…ion from parameter.
… about it in the RM.
…hrow errors when comparing URDF and exported interfaces but add warning about this.
…den by catching all exceptions until now.
destogl
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hardware_interface/include/hardware_interface/resource_manager.hpp
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| } | ||
| init_resource_manager(robot_description_); |
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| init_resource_manager(robot_description_); | |
| init_resource_manager(robot_description_); | |
| init_services(); |
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There is a reason why I moved init_service into callback. The idea is that they are not available until there is HW. Otherwise, it happens that the spawner fails before the controller manager manages to get the robot description and initialize HW. When services are not available, spawners are waiting for them.
I can understand that this is not logical on the first view. Maybe there is another better solution, but I wanted to avoid adding additional flags to synchronize that.
| << e.what()); | ||
| "ResourceManager has already loaded an urdf file. Ignoring attempt to reload a robot " | ||
| "description file."); | ||
| return; |
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| return; | |
| if(!robot_description_notification_timer_->is_canceled()) | |
| { | |
| robot_description_notification_timer_->cancel(); | |
| } | |
| return; |
| robot_description_notification_timer_ = create_wall_timer( | ||
| std::chrono::seconds(1), | ||
| [&]() | ||
| { | ||
| RCLCPP_WARN( | ||
| get_logger(), "Waiting for data on '~/robot_description' topic to finish initialization"); | ||
| }); |
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| robot_description_notification_timer_ = create_wall_timer( | |
| std::chrono::seconds(1), | |
| [&]() | |
| { | |
| RCLCPP_WARN( | |
| get_logger(), "Waiting for data on '~/robot_description' topic to finish initialization"); | |
| }); | |
| // This is needed to start the CM services when the URDF is already loaded | |
| if (resource_manager_->is_urdf_already_loaded()) | |
| { | |
| init_services(); | |
| } | |
| else | |
| { | |
| robot_description_notification_timer_ = create_wall_timer( | |
| std::chrono::seconds(1), | |
| [&]() | |
| { | |
| RCLCPP_WARN( | |
| get_logger(), "Waiting for data on '~/robot_description' topic to finish initialization"); | |
| }); | |
| } |
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You are right! but I think that the solution is rather to initialize the timer before subscriber. Then we have less code and it should work in both cases.
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This pull request is in conflict. Could you fix it @destogl? |
Codecov ReportAttention:
Additional details and impacted files@@ Coverage Diff @@
## master #1237 +/- ##
==========================================
+ Coverage 47.53% 47.66% +0.13%
==========================================
Files 41 41
Lines 3547 3539 -8
Branches 1930 1914 -16
==========================================
+ Hits 1686 1687 +1
+ Misses 459 449 -10
- Partials 1402 1403 +1
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This pull request is in conflict. Could you fix it @destogl? |
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This pull request is in conflict. Could you fix it @destogl? |
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The last PR was merged yesterday, I think this can be closed. |
christophfroehlich
deleted the
cm-fix-calls-to-prepare-and-perform-switch
branch
#1218 should go before this PR.
Should I split this into multiple PRs? There is a bit of a mix now with small code restructurings, renaming and similar.