From a1fde13f175880e6e55a7299406059b67753fd99 Mon Sep 17 00:00:00 2001 From: Christoph Froehlich Date: Tue, 30 Jul 2024 07:42:46 +0000 Subject: [PATCH] Revert "Reorder controller spawners" This reverts commit 0b8382bb1a5f05820bc0af4b5931bdc09a77bb4e. --- example_1/bringup/launch/rrbot.launch.py | 13 ++++++------ example_10/bringup/launch/rrbot.launch.py | 21 +++++++------------ .../bringup/launch/carlikebot.launch.py | 13 ++++++------ example_12/bringup/launch/rrbot.launch.py | 14 ++++++------- ...ck_sensors_for_position_feedback.launch.py | 13 ++++++------ .../bringup/launch/rrbot_base.launch.py | 13 ++---------- .../bringup/launch/rrbot_namespace.launch.py | 17 ++++++++------- example_2/bringup/launch/diffbot.launch.py | 13 ++++++------ .../rrbot_system_multi_interface.launch.py | 13 ++++++------ .../launch/rrbot_system_with_sensor.launch.py | 13 ++++++------ ...rbot_system_with_external_sensor.launch.py | 13 ++++++------ .../launch/rrbot_modular_actuators.launch.py | 13 ++++++------ .../bringup/launch/r6bot_controller.launch.py | 13 ++++++------ ...ansmissions_system_position_only.launch.py | 13 ++++++------ example_9/bringup/launch/rrbot.launch.py | 13 ++++++------ 15 files changed, 90 insertions(+), 118 deletions(-) diff --git a/example_1/bringup/launch/rrbot.launch.py b/example_1/bringup/launch/rrbot.launch.py index e79ef34f2..0de1813d1 100644 --- a/example_1/bringup/launch/rrbot.launch.py +++ b/example_1/bringup/launch/rrbot.launch.py @@ -105,21 +105,20 @@ def generate_launch_description(): ) ) - # Delay start of joint_state_broadcaster after `robot_controller` - # TODO(anyone): This is a workaround for flaky tests. Remove when fixed. - delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler( + # Delay start of robot_controller after `joint_state_broadcaster` + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( event_handler=OnProcessExit( - target_action=robot_controller_spawner, - on_exit=[joint_state_broadcaster_spawner], + target_action=joint_state_broadcaster_spawner, + on_exit=[robot_controller_spawner], ) ) nodes = [ control_node, robot_state_pub_node, - robot_controller_spawner, + joint_state_broadcaster_spawner, delay_rviz_after_joint_state_broadcaster_spawner, - delay_joint_state_broadcaster_after_robot_controller_spawner, + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, ] return LaunchDescription(declared_arguments + nodes) diff --git a/example_10/bringup/launch/rrbot.launch.py b/example_10/bringup/launch/rrbot.launch.py index bdcd9ee3d..b277291d4 100644 --- a/example_10/bringup/launch/rrbot.launch.py +++ b/example_10/bringup/launch/rrbot.launch.py @@ -93,27 +93,20 @@ def generate_launch_description(): arguments=["gpio_controller", "-c", "/controller_manager"], ) - # Delay start of joint_state_broadcaster after `robot_controller` - # TODO(anyone): This is a workaround for flaky tests. Remove when fixed. - delay_gpio_after_robot_controller_spawner = RegisterEventHandler( + # Delay start of robot_controller after `joint_state_broadcaster` + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( event_handler=OnProcessExit( - target_action=robot_controller_spawner, - on_exit=[gpio_controller_spawner], - ) - ) - delay_joint_state_broadcaster_after_gpio_controller_spawner = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=gpio_controller_spawner, - on_exit=[joint_state_broadcaster_spawner], + target_action=joint_state_broadcaster_spawner, + on_exit=[robot_controller_spawner], ) ) nodes = [ control_node, robot_state_pub_node, - robot_controller_spawner, - delay_gpio_after_robot_controller_spawner, - delay_joint_state_broadcaster_after_gpio_controller_spawner, + joint_state_broadcaster_spawner, + gpio_controller_spawner, + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, ] return LaunchDescription(declared_arguments + nodes) diff --git a/example_11/bringup/launch/carlikebot.launch.py b/example_11/bringup/launch/carlikebot.launch.py index 200363eb7..4a7adce19 100644 --- a/example_11/bringup/launch/carlikebot.launch.py +++ b/example_11/bringup/launch/carlikebot.launch.py @@ -125,12 +125,11 @@ def generate_launch_description(): ) ) - # Delay start of joint_state_broadcaster after `robot_controller` - # TODO(anyone): This is a workaround for flaky tests. Remove when fixed. - delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler( + # Delay start of robot_controller after `joint_state_broadcaster` + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( event_handler=OnProcessExit( - target_action=robot_bicycle_controller_spawner, - on_exit=[joint_state_broadcaster_spawner], + target_action=joint_state_broadcaster_spawner, + on_exit=[robot_bicycle_controller_spawner], ) ) @@ -138,9 +137,9 @@ def generate_launch_description(): control_node, control_node_remapped, robot_state_pub_bicycle_node, - robot_bicycle_controller_spawner, - delay_joint_state_broadcaster_after_robot_controller_spawner, + joint_state_broadcaster_spawner, delay_rviz_after_joint_state_broadcaster_spawner, + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, ] return LaunchDescription(declared_arguments + nodes) diff --git a/example_12/bringup/launch/rrbot.launch.py b/example_12/bringup/launch/rrbot.launch.py index cdf3430ba..4fd88dbe1 100644 --- a/example_12/bringup/launch/rrbot.launch.py +++ b/example_12/bringup/launch/rrbot.launch.py @@ -111,22 +111,20 @@ def generate_launch_description(): ) ) - # Delay start of joint_state_broadcaster after `robot_controller` - # TODO(anyone): This is a workaround for flaky tests. Remove when fixed. - delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler( + # Delay start of robot_controller after `joint_state_broadcaster` + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( event_handler=OnProcessExit( - target_action=j1_controller_spawner, - on_exit=[joint_state_broadcaster_spawner], + target_action=joint_state_broadcaster_spawner, + on_exit=[j1_controller_spawner, j2_controller_spawner], ) ) nodes = [ control_node, robot_state_pub_node, - j1_controller_spawner, - j2_controller_spawner, + joint_state_broadcaster_spawner, delay_rviz_after_joint_state_broadcaster_spawner, - delay_joint_state_broadcaster_after_robot_controller_spawner, + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, ] return LaunchDescription(declared_arguments + nodes) diff --git a/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py b/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py index c12e153f6..6c263c12d 100644 --- a/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py +++ b/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py @@ -134,21 +134,20 @@ def generate_launch_description(): ) ) - # Delay start of joint_state_broadcaster after `robot_controller` - # TODO(anyone): This is a workaround for flaky tests. Remove when fixed. - delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler( + # Delay start of robot_controller after `joint_state_broadcaster` + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( event_handler=OnProcessExit( - target_action=robot_controller_spawner, - on_exit=[joint_state_broadcaster_spawner], + target_action=joint_state_broadcaster_spawner, + on_exit=[robot_controller_spawner], ) ) nodes = [ control_node, robot_state_pub_node, - robot_controller_spawner, + joint_state_broadcaster_spawner, delay_rviz_after_joint_state_broadcaster_spawner, - delay_joint_state_broadcaster_after_robot_controller_spawner, + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, ] return LaunchDescription(declared_arguments + nodes) diff --git a/example_15/bringup/launch/rrbot_base.launch.py b/example_15/bringup/launch/rrbot_base.launch.py index b64b4e192..1de7e6900 100644 --- a/example_15/bringup/launch/rrbot_base.launch.py +++ b/example_15/bringup/launch/rrbot_base.launch.py @@ -220,21 +220,12 @@ def generate_launch_description(): ) ) - # Delay start of joint_state_broadcaster after `robot_controller` - # TODO(anyone): This is a workaround for flaky tests. Remove when fixed. - delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=robot_controller_spawner, - on_exit=[joint_state_broadcaster_spawner], - ) - ) - nodes = [ control_node, robot_state_pub_node, - robot_controller_spawner, - delay_joint_state_broadcaster_after_robot_controller_spawner, + joint_state_broadcaster_spawner, delay_rviz_after_joint_state_broadcaster_spawner, + robot_controller_spawner, ] return LaunchDescription(declared_arguments + nodes) diff --git a/example_15/bringup/launch/rrbot_namespace.launch.py b/example_15/bringup/launch/rrbot_namespace.launch.py index 3fab3632e..bca145c3b 100644 --- a/example_15/bringup/launch/rrbot_namespace.launch.py +++ b/example_15/bringup/launch/rrbot_namespace.launch.py @@ -127,12 +127,13 @@ def generate_launch_description(): ) ) - # Delay start of joint_state_broadcaster after `robot_controller` - # TODO(anyone): This is a workaround for flaky tests. Remove when fixed. - delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler( - event_handler=OnProcessExit( - target_action=robot_forward_position_controller_spawner, - on_exit=[joint_state_broadcaster_spawner], + # Delay start of robot_controller after `joint_state_broadcaster` + delay_robot_forward_position_controller_spawner_after_joint_state_broadcaster_spawner = ( + RegisterEventHandler( + event_handler=OnProcessExit( + target_action=joint_state_broadcaster_spawner, + on_exit=[robot_forward_position_controller_spawner], + ) ) ) @@ -149,9 +150,9 @@ def generate_launch_description(): nodes = [ control_node, robot_state_pub_node, + joint_state_broadcaster_spawner, delay_rviz_after_joint_state_broadcaster_spawner, - robot_forward_position_controller_spawner, - delay_joint_state_broadcaster_after_robot_controller_spawner, + delay_robot_forward_position_controller_spawner_after_joint_state_broadcaster_spawner, delay_robot_position_trajectory_controller_spawner_after_joint_state_broadcaster_spawner, ] diff --git a/example_2/bringup/launch/diffbot.launch.py b/example_2/bringup/launch/diffbot.launch.py index 02a5535cf..04b454a0f 100644 --- a/example_2/bringup/launch/diffbot.launch.py +++ b/example_2/bringup/launch/diffbot.launch.py @@ -114,21 +114,20 @@ def generate_launch_description(): ) ) - # Delay start of joint_state_broadcaster after `robot_controller` - # TODO(anyone): This is a workaround for flaky tests. Remove when fixed. - delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler( + # Delay start of robot_controller after `joint_state_broadcaster` + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( event_handler=OnProcessExit( - target_action=robot_controller_spawner, - on_exit=[joint_state_broadcaster_spawner], + target_action=joint_state_broadcaster_spawner, + on_exit=[robot_controller_spawner], ) ) nodes = [ control_node, robot_state_pub_node, - robot_controller_spawner, + joint_state_broadcaster_spawner, delay_rviz_after_joint_state_broadcaster_spawner, - delay_joint_state_broadcaster_after_robot_controller_spawner, + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, ] return LaunchDescription(declared_arguments + nodes) diff --git a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py index 161c44fab..969cf745f 100644 --- a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py +++ b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py @@ -157,21 +157,20 @@ def generate_launch_description(): ) ) - # Delay start of joint_state_broadcaster after `robot_controller` - # TODO(anyone): This is a workaround for flaky tests. Remove when fixed. - delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler( + # Delay start of robot_controller after `joint_state_broadcaster` + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( event_handler=OnProcessExit( - target_action=robot_controller_spawner, - on_exit=[joint_state_broadcaster_spawner], + target_action=joint_state_broadcaster_spawner, + on_exit=[robot_controller_spawner], ) ) nodes = [ control_node, robot_state_pub_node, - robot_controller_spawner, + joint_state_broadcaster_spawner, delay_rviz_after_joint_state_broadcaster_spawner, - delay_joint_state_broadcaster_after_robot_controller_spawner, + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, ] return LaunchDescription(declared_arguments + nodes) diff --git a/example_4/bringup/launch/rrbot_system_with_sensor.launch.py b/example_4/bringup/launch/rrbot_system_with_sensor.launch.py index c3ce71b54..857d5963e 100644 --- a/example_4/bringup/launch/rrbot_system_with_sensor.launch.py +++ b/example_4/bringup/launch/rrbot_system_with_sensor.launch.py @@ -156,21 +156,20 @@ def generate_launch_description(): ) ) - # Delay start of joint_state_broadcaster after `robot_controller` - # TODO(anyone): This is a workaround for flaky tests. Remove when fixed. - delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler( + # Delay start of robot_controller after `joint_state_broadcaster` + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( event_handler=OnProcessExit( - target_action=robot_controller_spawner, - on_exit=[joint_state_broadcaster_spawner], + target_action=joint_state_broadcaster_spawner, + on_exit=[robot_controller_spawner], ) ) nodes = [ control_node, robot_state_pub_node, - robot_controller_spawner, + joint_state_broadcaster_spawner, delay_rviz_after_joint_state_broadcaster_spawner, - delay_joint_state_broadcaster_after_robot_controller_spawner, + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, fts_broadcaster_spawner, ] diff --git a/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py b/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py index 45d646b09..675499902 100755 --- a/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py +++ b/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py @@ -156,21 +156,20 @@ def generate_launch_description(): ) ) - # Delay start of joint_state_broadcaster after `robot_controller` - # TODO(anyone): This is a workaround for flaky tests. Remove when fixed. - delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler( + # Delay start of robot_controller after `joint_state_broadcaster` + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( event_handler=OnProcessExit( - target_action=robot_controller_spawner, - on_exit=[joint_state_broadcaster_spawner], + target_action=joint_state_broadcaster_spawner, + on_exit=[robot_controller_spawner], ) ) nodes = [ control_node, robot_state_pub_node, - robot_controller_spawner, + joint_state_broadcaster_spawner, delay_rviz_after_joint_state_broadcaster_spawner, - delay_joint_state_broadcaster_after_robot_controller_spawner, + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, fts_broadcaster_spawner, ] diff --git a/example_6/bringup/launch/rrbot_modular_actuators.launch.py b/example_6/bringup/launch/rrbot_modular_actuators.launch.py index 52ac6ff5d..8c097d899 100644 --- a/example_6/bringup/launch/rrbot_modular_actuators.launch.py +++ b/example_6/bringup/launch/rrbot_modular_actuators.launch.py @@ -157,21 +157,20 @@ def generate_launch_description(): ) ) - # Delay start of joint_state_broadcaster after `robot_controller` - # TODO(anyone): This is a workaround for flaky tests. Remove when fixed. - delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler( + # Delay start of robot_controller after `joint_state_broadcaster` + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( event_handler=OnProcessExit( - target_action=robot_controller_spawner, - on_exit=[joint_state_broadcaster_spawner], + target_action=joint_state_broadcaster_spawner, + on_exit=[robot_controller_spawner], ) ) nodes = [ control_node, robot_state_pub_node, - robot_controller_spawner, + joint_state_broadcaster_spawner, delay_rviz_after_joint_state_broadcaster_spawner, - delay_joint_state_broadcaster_after_robot_controller_spawner, + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, ] return LaunchDescription(declared_arguments + nodes) diff --git a/example_7/bringup/launch/r6bot_controller.launch.py b/example_7/bringup/launch/r6bot_controller.launch.py index ea86cbe74..c590b6ca6 100644 --- a/example_7/bringup/launch/r6bot_controller.launch.py +++ b/example_7/bringup/launch/r6bot_controller.launch.py @@ -108,21 +108,20 @@ def generate_launch_description(): ) ) - # Delay start of joint_state_broadcaster after `robot_controller` - # TODO(anyone): This is a workaround for flaky tests. Remove when fixed. - delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler( + # Delay start of robot_controller after `joint_state_broadcaster` + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( event_handler=OnProcessExit( - target_action=robot_controller_spawner, - on_exit=[joint_state_broadcaster_spawner], + target_action=joint_state_broadcaster_spawner, + on_exit=[robot_controller_spawner], ) ) nodes = [ control_node, robot_state_pub_node, - robot_controller_spawner, + joint_state_broadcaster_spawner, delay_rviz_after_joint_state_broadcaster_spawner, - delay_joint_state_broadcaster_after_robot_controller_spawner, + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, ] return LaunchDescription(declared_arguments + nodes) diff --git a/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py b/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py index 004d44176..4476a3f35 100644 --- a/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py +++ b/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py @@ -134,21 +134,20 @@ def generate_launch_description(): ) ) - # Delay start of joint_state_broadcaster after `robot_controller` - # TODO(anyone): This is a workaround for flaky tests. Remove when fixed. - delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler( + # Delay start of robot_controller after `joint_state_broadcaster` + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( event_handler=OnProcessExit( - target_action=robot_controller_spawner, - on_exit=[joint_state_broadcaster_spawner], + target_action=joint_state_broadcaster_spawner, + on_exit=[robot_controller_spawner], ) ) nodes = [ control_node, robot_state_pub_node, - robot_controller_spawner, + joint_state_broadcaster_spawner, delay_rviz_after_joint_state_broadcaster_spawner, - delay_joint_state_broadcaster_after_robot_controller_spawner, + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, ] return LaunchDescription(declared_arguments + nodes) diff --git a/example_9/bringup/launch/rrbot.launch.py b/example_9/bringup/launch/rrbot.launch.py index 744b61631..fbc54bcc0 100644 --- a/example_9/bringup/launch/rrbot.launch.py +++ b/example_9/bringup/launch/rrbot.launch.py @@ -106,21 +106,20 @@ def generate_launch_description(): ) ) - # Delay start of joint_state_broadcaster after `robot_controller` - # TODO(anyone): This is a workaround for flaky tests. Remove when fixed. - delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler( + # Delay start of robot_controller after `joint_state_broadcaster` + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler( event_handler=OnProcessExit( - target_action=robot_controller_spawner, - on_exit=[joint_state_broadcaster_spawner], + target_action=joint_state_broadcaster_spawner, + on_exit=[robot_controller_spawner], ) ) nodes = [ control_node, robot_state_pub_node, - robot_controller_spawner, + joint_state_broadcaster_spawner, delay_rviz_after_joint_state_broadcaster_spawner, - delay_joint_state_broadcaster_after_robot_controller_spawner, + delay_robot_controller_spawner_after_joint_state_broadcaster_spawner, ] return LaunchDescription(declared_arguments + nodes)