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christophfroehlichchristophfroehlich
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Revert "Reorder controller spawners"
This reverts commit 0b8382b.
1 parent a0a2680 commit 19402fb

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15 files changed

+90
-118
lines changed

15 files changed

+90
-118
lines changed

‎example_1/bringup/launch/rrbot.launch.py

Lines changed: 6 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -105,21 +105,20 @@ def generate_launch_description():
105105
)
106106
)
107107

108-
# Delay start of joint_state_broadcaster after `robot_controller`
109-
# TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
110-
delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
108+
# Delay start of robot_controller after `joint_state_broadcaster`
109+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
111110
event_handler=OnProcessExit(
112-
target_action=robot_controller_spawner,
113-
on_exit=[joint_state_broadcaster_spawner],
111+
target_action=joint_state_broadcaster_spawner,
112+
on_exit=[robot_controller_spawner],
114113
)
115114
)
116115

117116
nodes = [
118117
control_node,
119118
robot_state_pub_node,
120-
robot_controller_spawner,
119+
joint_state_broadcaster_spawner,
121120
delay_rviz_after_joint_state_broadcaster_spawner,
122-
delay_joint_state_broadcaster_after_robot_controller_spawner,
121+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
123122
]
124123

125124
return LaunchDescription(declared_arguments + nodes)

‎example_10/bringup/launch/rrbot.launch.py

Lines changed: 7 additions & 14 deletions
Original file line numberDiff line numberDiff line change
@@ -93,27 +93,20 @@ def generate_launch_description():
9393
arguments=["gpio_controller", "-c", "/controller_manager"],
9494
)
9595

96-
# Delay start of joint_state_broadcaster after `robot_controller`
97-
# TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
98-
delay_gpio_after_robot_controller_spawner = RegisterEventHandler(
96+
# Delay start of robot_controller after `joint_state_broadcaster`
97+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
9998
event_handler=OnProcessExit(
100-
target_action=robot_controller_spawner,
101-
on_exit=[gpio_controller_spawner],
102-
)
103-
)
104-
delay_joint_state_broadcaster_after_gpio_controller_spawner = RegisterEventHandler(
105-
event_handler=OnProcessExit(
106-
target_action=gpio_controller_spawner,
107-
on_exit=[joint_state_broadcaster_spawner],
99+
target_action=joint_state_broadcaster_spawner,
100+
on_exit=[robot_controller_spawner],
108101
)
109102
)
110103

111104
nodes = [
112105
control_node,
113106
robot_state_pub_node,
114-
robot_controller_spawner,
115-
delay_gpio_after_robot_controller_spawner,
116-
delay_joint_state_broadcaster_after_gpio_controller_spawner,
107+
joint_state_broadcaster_spawner,
108+
gpio_controller_spawner,
109+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
117110
]
118111

119112
return LaunchDescription(declared_arguments + nodes)

‎example_11/bringup/launch/carlikebot.launch.py

Lines changed: 6 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -125,22 +125,21 @@ def generate_launch_description():
125125
)
126126
)
127127

128-
# Delay start of joint_state_broadcaster after `robot_controller`
129-
# TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
130-
delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
128+
# Delay start of robot_controller after `joint_state_broadcaster`
129+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
131130
event_handler=OnProcessExit(
132-
target_action=robot_bicycle_controller_spawner,
133-
on_exit=[joint_state_broadcaster_spawner],
131+
target_action=joint_state_broadcaster_spawner,
132+
on_exit=[robot_bicycle_controller_spawner],
134133
)
135134
)
136135

137136
nodes = [
138137
control_node,
139138
control_node_remapped,
140139
robot_state_pub_bicycle_node,
141-
robot_bicycle_controller_spawner,
142-
delay_joint_state_broadcaster_after_robot_controller_spawner,
140+
joint_state_broadcaster_spawner,
143141
delay_rviz_after_joint_state_broadcaster_spawner,
142+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
144143
]
145144

146145
return LaunchDescription(declared_arguments + nodes)

‎example_12/bringup/launch/rrbot.launch.py

Lines changed: 6 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -111,22 +111,20 @@ def generate_launch_description():
111111
)
112112
)
113113

114-
# Delay start of joint_state_broadcaster after `robot_controller`
115-
# TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
116-
delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
114+
# Delay start of robot_controller after `joint_state_broadcaster`
115+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
117116
event_handler=OnProcessExit(
118-
target_action=j1_controller_spawner,
119-
on_exit=[joint_state_broadcaster_spawner],
117+
target_action=joint_state_broadcaster_spawner,
118+
on_exit=[j1_controller_spawner, j2_controller_spawner],
120119
)
121120
)
122121

123122
nodes = [
124123
control_node,
125124
robot_state_pub_node,
126-
j1_controller_spawner,
127-
j2_controller_spawner,
125+
joint_state_broadcaster_spawner,
128126
delay_rviz_after_joint_state_broadcaster_spawner,
129-
delay_joint_state_broadcaster_after_robot_controller_spawner,
127+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
130128
]
131129

132130
return LaunchDescription(declared_arguments + nodes)

‎example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py

Lines changed: 6 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -134,21 +134,20 @@ def generate_launch_description():
134134
)
135135
)
136136

137-
# Delay start of joint_state_broadcaster after `robot_controller`
138-
# TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
139-
delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
137+
# Delay start of robot_controller after `joint_state_broadcaster`
138+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
140139
event_handler=OnProcessExit(
141-
target_action=robot_controller_spawner,
142-
on_exit=[joint_state_broadcaster_spawner],
140+
target_action=joint_state_broadcaster_spawner,
141+
on_exit=[robot_controller_spawner],
143142
)
144143
)
145144

146145
nodes = [
147146
control_node,
148147
robot_state_pub_node,
149-
robot_controller_spawner,
148+
joint_state_broadcaster_spawner,
150149
delay_rviz_after_joint_state_broadcaster_spawner,
151-
delay_joint_state_broadcaster_after_robot_controller_spawner,
150+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
152151
]
153152

154153
return LaunchDescription(declared_arguments + nodes)

‎example_15/bringup/launch/rrbot_base.launch.py

Lines changed: 2 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -220,21 +220,12 @@ def generate_launch_description():
220220
)
221221
)
222222

223-
# Delay start of joint_state_broadcaster after `robot_controller`
224-
# TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
225-
delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
226-
event_handler=OnProcessExit(
227-
target_action=robot_controller_spawner,
228-
on_exit=[joint_state_broadcaster_spawner],
229-
)
230-
)
231-
232223
nodes = [
233224
control_node,
234225
robot_state_pub_node,
235-
robot_controller_spawner,
236-
delay_joint_state_broadcaster_after_robot_controller_spawner,
226+
joint_state_broadcaster_spawner,
237227
delay_rviz_after_joint_state_broadcaster_spawner,
228+
robot_controller_spawner,
238229
]
239230

240231
return LaunchDescription(declared_arguments + nodes)

‎example_15/bringup/launch/rrbot_namespace.launch.py

Lines changed: 9 additions & 8 deletions
Original file line numberDiff line numberDiff line change
@@ -127,12 +127,13 @@ def generate_launch_description():
127127
)
128128
)
129129

130-
# Delay start of joint_state_broadcaster after `robot_controller`
131-
# TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
132-
delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
133-
event_handler=OnProcessExit(
134-
target_action=robot_forward_position_controller_spawner,
135-
on_exit=[joint_state_broadcaster_spawner],
130+
# Delay start of robot_controller after `joint_state_broadcaster`
131+
delay_robot_forward_position_controller_spawner_after_joint_state_broadcaster_spawner = (
132+
RegisterEventHandler(
133+
event_handler=OnProcessExit(
134+
target_action=joint_state_broadcaster_spawner,
135+
on_exit=[robot_forward_position_controller_spawner],
136+
)
136137
)
137138
)
138139

@@ -149,9 +150,9 @@ def generate_launch_description():
149150
nodes = [
150151
control_node,
151152
robot_state_pub_node,
153+
joint_state_broadcaster_spawner,
152154
delay_rviz_after_joint_state_broadcaster_spawner,
153-
robot_forward_position_controller_spawner,
154-
delay_joint_state_broadcaster_after_robot_controller_spawner,
155+
delay_robot_forward_position_controller_spawner_after_joint_state_broadcaster_spawner,
155156
delay_robot_position_trajectory_controller_spawner_after_joint_state_broadcaster_spawner,
156157
]
157158

‎example_2/bringup/launch/diffbot.launch.py

Lines changed: 6 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -114,21 +114,20 @@ def generate_launch_description():
114114
)
115115
)
116116

117-
# Delay start of joint_state_broadcaster after `robot_controller`
118-
# TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
119-
delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
117+
# Delay start of robot_controller after `joint_state_broadcaster`
118+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
120119
event_handler=OnProcessExit(
121-
target_action=robot_controller_spawner,
122-
on_exit=[joint_state_broadcaster_spawner],
120+
target_action=joint_state_broadcaster_spawner,
121+
on_exit=[robot_controller_spawner],
123122
)
124123
)
125124

126125
nodes = [
127126
control_node,
128127
robot_state_pub_node,
129-
robot_controller_spawner,
128+
joint_state_broadcaster_spawner,
130129
delay_rviz_after_joint_state_broadcaster_spawner,
131-
delay_joint_state_broadcaster_after_robot_controller_spawner,
130+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
132131
]
133132

134133
return LaunchDescription(declared_arguments + nodes)

‎example_3/bringup/launch/rrbot_system_multi_interface.launch.py

Lines changed: 6 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -157,21 +157,20 @@ def generate_launch_description():
157157
)
158158
)
159159

160-
# Delay start of joint_state_broadcaster after `robot_controller`
161-
# TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
162-
delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
160+
# Delay start of robot_controller after `joint_state_broadcaster`
161+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
163162
event_handler=OnProcessExit(
164-
target_action=robot_controller_spawner,
165-
on_exit=[joint_state_broadcaster_spawner],
163+
target_action=joint_state_broadcaster_spawner,
164+
on_exit=[robot_controller_spawner],
166165
)
167166
)
168167

169168
nodes = [
170169
control_node,
171170
robot_state_pub_node,
172-
robot_controller_spawner,
171+
joint_state_broadcaster_spawner,
173172
delay_rviz_after_joint_state_broadcaster_spawner,
174-
delay_joint_state_broadcaster_after_robot_controller_spawner,
173+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
175174
]
176175

177176
return LaunchDescription(declared_arguments + nodes)

‎example_4/bringup/launch/rrbot_system_with_sensor.launch.py

Lines changed: 6 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -156,21 +156,20 @@ def generate_launch_description():
156156
)
157157
)
158158

159-
# Delay start of joint_state_broadcaster after `robot_controller`
160-
# TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
161-
delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
159+
# Delay start of robot_controller after `joint_state_broadcaster`
160+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
162161
event_handler=OnProcessExit(
163-
target_action=robot_controller_spawner,
164-
on_exit=[joint_state_broadcaster_spawner],
162+
target_action=joint_state_broadcaster_spawner,
163+
on_exit=[robot_controller_spawner],
165164
)
166165
)
167166

168167
nodes = [
169168
control_node,
170169
robot_state_pub_node,
171-
robot_controller_spawner,
170+
joint_state_broadcaster_spawner,
172171
delay_rviz_after_joint_state_broadcaster_spawner,
173-
delay_joint_state_broadcaster_after_robot_controller_spawner,
172+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
174173
fts_broadcaster_spawner,
175174
]
176175

‎example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py

Lines changed: 6 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -156,21 +156,20 @@ def generate_launch_description():
156156
)
157157
)
158158

159-
# Delay start of joint_state_broadcaster after `robot_controller`
160-
# TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
161-
delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
159+
# Delay start of robot_controller after `joint_state_broadcaster`
160+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
162161
event_handler=OnProcessExit(
163-
target_action=robot_controller_spawner,
164-
on_exit=[joint_state_broadcaster_spawner],
162+
target_action=joint_state_broadcaster_spawner,
163+
on_exit=[robot_controller_spawner],
165164
)
166165
)
167166

168167
nodes = [
169168
control_node,
170169
robot_state_pub_node,
171-
robot_controller_spawner,
170+
joint_state_broadcaster_spawner,
172171
delay_rviz_after_joint_state_broadcaster_spawner,
173-
delay_joint_state_broadcaster_after_robot_controller_spawner,
172+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
174173
fts_broadcaster_spawner,
175174
]
176175

‎example_6/bringup/launch/rrbot_modular_actuators.launch.py

Lines changed: 6 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -157,21 +157,20 @@ def generate_launch_description():
157157
)
158158
)
159159

160-
# Delay start of joint_state_broadcaster after `robot_controller`
161-
# TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
162-
delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
160+
# Delay start of robot_controller after `joint_state_broadcaster`
161+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
163162
event_handler=OnProcessExit(
164-
target_action=robot_controller_spawner,
165-
on_exit=[joint_state_broadcaster_spawner],
163+
target_action=joint_state_broadcaster_spawner,
164+
on_exit=[robot_controller_spawner],
166165
)
167166
)
168167

169168
nodes = [
170169
control_node,
171170
robot_state_pub_node,
172-
robot_controller_spawner,
171+
joint_state_broadcaster_spawner,
173172
delay_rviz_after_joint_state_broadcaster_spawner,
174-
delay_joint_state_broadcaster_after_robot_controller_spawner,
173+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
175174
]
176175

177176
return LaunchDescription(declared_arguments + nodes)

‎example_7/bringup/launch/r6bot_controller.launch.py

Lines changed: 6 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -108,21 +108,20 @@ def generate_launch_description():
108108
)
109109
)
110110

111-
# Delay start of joint_state_broadcaster after `robot_controller`
112-
# TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
113-
delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
111+
# Delay start of robot_controller after `joint_state_broadcaster`
112+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
114113
event_handler=OnProcessExit(
115-
target_action=robot_controller_spawner,
116-
on_exit=[joint_state_broadcaster_spawner],
114+
target_action=joint_state_broadcaster_spawner,
115+
on_exit=[robot_controller_spawner],
117116
)
118117
)
119118

120119
nodes = [
121120
control_node,
122121
robot_state_pub_node,
123-
robot_controller_spawner,
122+
joint_state_broadcaster_spawner,
124123
delay_rviz_after_joint_state_broadcaster_spawner,
125-
delay_joint_state_broadcaster_after_robot_controller_spawner,
124+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
126125
]
127126

128127
return LaunchDescription(declared_arguments + nodes)

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