diff --git a/controller_manager/controller_manager/spawner.py b/controller_manager/controller_manager/spawner.py index a6b7215f5a..83b1e2f89d 100644 --- a/controller_manager/controller_manager/spawner.py +++ b/controller_manager/controller_manager/spawner.py @@ -122,7 +122,16 @@ def main(args=None): "--controller-manager-timeout", help="Time to wait for the controller manager", required=False, - default=0, + default=0.0, + type=float, + ) + parser.add_argument( + "--switch-timeout", + help="Time to wait for a successful state switch of controllers." + " Useful when switching cannot be performed immediately, e.g.," + " paused simulations at startup", + required=False, + default=5.0, type=float, ) parser.add_argument( @@ -139,6 +148,7 @@ def main(args=None): controller_manager_name = args.controller_manager param_file = args.param_file controller_manager_timeout = args.controller_manager_timeout + switch_timeout = args.switch_timeout if param_file and not os.path.isfile(param_file): raise FileNotFoundError(errno.ENOENT, os.strerror(errno.ENOENT), param_file) @@ -216,7 +226,13 @@ def main(args=None): if not args.stopped and not args.inactive and not args.activate_as_group: ret = switch_controllers( - node, controller_manager_name, [], [controller_name], True, True, 5.0 + node, + controller_manager_name, + [], + [controller_name], + True, + True, + switch_timeout, ) if not ret.ok: node.get_logger().error( @@ -234,7 +250,13 @@ def main(args=None): if not args.stopped and not args.inactive and args.activate_as_group: ret = switch_controllers( - node, controller_manager_name, [], controller_names, True, True, 5.0 + node, + controller_manager_name, + [], + controller_names, + True, + True, + switch_timeout, ) if not ret.ok: node.get_logger().error( @@ -262,7 +284,13 @@ def main(args=None): node.get_logger().info("Interrupt captured, deactivating and unloading controller") # TODO(saikishor) we might have an issue in future, if any of these controllers is in chained mode ret = switch_controllers( - node, controller_manager_name, controller_names, [], True, True, 5.0 + node, + controller_manager_name, + controller_names, + [], + True, + True, + switch_timeout, ) if not ret.ok: node.get_logger().error( diff --git a/controller_manager/controller_manager/unspawner.py b/controller_manager/controller_manager/unspawner.py index d7cab49cbd..15f0ec2899 100644 --- a/controller_manager/controller_manager/unspawner.py +++ b/controller_manager/controller_manager/unspawner.py @@ -37,17 +37,33 @@ def main(args=None): default="/controller_manager", required=False, ) + parser.add_argument( + "--switch-timeout", + help="Time to wait for a successful state switch of controllers." + " Useful when switching cannot be performed immediately, e.g.," + " paused simulations at startup", + required=False, + default=5.0, + type=float, + ) command_line_args = rclpy.utilities.remove_ros_args(args=sys.argv)[1:] args = parser.parse_args(command_line_args) controller_names = args.controller_names controller_manager_name = args.controller_manager + switch_timeout = args.switch_timeout node = Node("unspawner_" + controller_names[0]) try: # Ignore returncode, because message is already printed and we'll try to unload anyway ret = switch_controllers( - node, controller_manager_name, controller_names, [], True, True, 5.0 + node, + controller_manager_name, + controller_names, + [], + True, + True, + switch_timeout, ) node.get_logger().info("Deactivated controller") diff --git a/controller_manager/doc/userdoc.rst b/controller_manager/doc/userdoc.rst index acc6275908..8f1c57161c 100644 --- a/controller_manager/doc/userdoc.rst +++ b/controller_manager/doc/userdoc.rst @@ -90,26 +90,34 @@ There are two scripts to interact with controller manager from launch files: .. code-block:: console $ ros2 run controller_manager spawner -h - usage: spawner [-h] [-c CONTROLLER_MANAGER] [-p PARAM_FILE] [--load-only] [--stopped] [-t CONTROLLER_TYPE] [-u] - [--controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT] - controller_name + usage: spawner [-h] [-c CONTROLLER_MANAGER] [-p PARAM_FILE] [-n NAMESPACE] [--load-only] [--stopped] [--inactive] [-t CONTROLLER_TYPE] [-u] + [--controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT] [--switch-timeout SWITCH_TIMEOUT] [--activate-as-group] + controller_names [controller_names ...] positional arguments: - controller_name Name of the controller + controller_names List of controllers - optional arguments: + options: -h, --help show this help message and exit -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER Name of the controller manager ROS node -p PARAM_FILE, --param-file PARAM_FILE Controller param file to be loaded into controller node before configure + -n NAMESPACE, --namespace NAMESPACE + Namespace for the controller --load-only Only load the controller and leave unconfigured. - --stopped Load and configure the controller, however do not start them + --stopped Load and configure the controller, however do not activate them + --inactive Load and configure the controller, however do not activate them -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 + --switch-timeout SWITCH_TIMEOUT + Time to wait for a successful state switch of controllers. Useful when switching cannot be performed immediately, e.g., + paused simulations at startup + --activate-as-group Activates all the parsed controllers list together instead of one by one. Useful for activating all chainable controllers + altogether The parsed controller config file can follow the same conventions as the typical ROS 2 parameter file format. Now, the spawner can handle config files with wildcard entries and also the controller name in the absolute namespace. See the following examples on the config files: @@ -172,15 +180,18 @@ The parsed controller config file can follow the same conventions as the typical .. code-block:: console $ ros2 run controller_manager unspawner -h - usage: unspawner [-h] [-c CONTROLLER_MANAGER] controller_name + usage: unspawner [-h] [-c CONTROLLER_MANAGER] [--switch-timeout SWITCH_TIMEOUT] controller_names [controller_names ...] positional arguments: - controller_name Name of the controller + controller_names Name of the controller - optional arguments: + options: -h, --help show this help message and exit -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER Name of the controller manager ROS node + --switch-timeout SWITCH_TIMEOUT + Time to wait for a successful state switch of controllers. Useful if controllers cannot be switched immediately, e.g., paused + simulations at startup ``hardware_spawner`` ^^^^^^^^^^^^^^^^^^^^^^ diff --git a/doc/release_notes.rst b/doc/release_notes.rst index 5ce3cda5fa..400e234d23 100644 --- a/doc/release_notes.rst +++ b/doc/release_notes.rst @@ -21,3 +21,4 @@ controller_manager * Added support for the wildcard entries for the controller configuration files (`#1724 `_). * 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 `_). +* ``--switch-timeout`` was added as parameter to the helper scripts ``spawner.py`` and ``unspawner.py``. Useful if controllers cannot be switched immediately, e.g., paused simulations at startup (`#1790 `_).