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Add service call timeout argument in spawner (backport #1808) #1886

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Add service call timeout argument in spawner (#1808)
---------

Signed-off-by: Angsa Deployment Team <team@angsa-robotics.com>
Signed-off-by: Tony Najjar <tony.najjar.1997@gmail.com>
Co-authored-by: Angsa Deployment Team <team@angsa-robotics.com>
Co-authored-by: Christoph Fröhlich <christophfroehlich@users.noreply.github.com>
Co-authored-by: Sai Kishor Kothakota <saisastra3@gmail.com>
4 people committed Nov 25, 2024
commit efb323a71189f3f38287b3440b2ce6f16f401f10
Original file line number Diff line number Diff line change
@@ -115,7 +115,9 @@ def service_caller(
)


def configure_controller(node, controller_manager_name, controller_name, service_timeout=0.0):
def configure_controller(
node, controller_manager_name, controller_name, service_timeout=0.0, call_timeout=10.0
):
request = ConfigureController.Request()
request.name = controller_name
return service_caller(
@@ -124,54 +126,65 @@ def configure_controller(node, controller_manager_name, controller_name, service
ConfigureController,
request,
service_timeout,
call_timeout,
)


def list_controllers(node, controller_manager_name, service_timeout=0.0):
def list_controllers(node, controller_manager_name, service_timeout=0.0, call_timeout=10.0):
request = ListControllers.Request()
return service_caller(
node,
f"{controller_manager_name}/list_controllers",
ListControllers,
request,
service_timeout,
call_timeout,
)


def list_controller_types(node, controller_manager_name, service_timeout=0.0):
def list_controller_types(node, controller_manager_name, service_timeout=0.0, call_timeout=10.0):
request = ListControllerTypes.Request()
return service_caller(
node,
f"{controller_manager_name}/list_controller_types",
ListControllerTypes,
request,
service_timeout,
call_timeout,
)


def list_hardware_components(node, controller_manager_name, service_timeout=0.0):
def list_hardware_components(
node, controller_manager_name, service_timeout=0.0, call_timeout=10.0
):
request = ListHardwareComponents.Request()
return service_caller(
node,
f"{controller_manager_name}/list_hardware_components",
ListHardwareComponents,
request,
service_timeout,
call_timeout,
)


def list_hardware_interfaces(node, controller_manager_name, service_timeout=0.0):
def list_hardware_interfaces(
node, controller_manager_name, service_timeout=0.0, call_timeout=10.0
):
request = ListHardwareInterfaces.Request()
return service_caller(
node,
f"{controller_manager_name}/list_hardware_interfaces",
ListHardwareInterfaces,
request,
service_timeout,
call_timeout,
)


def load_controller(node, controller_manager_name, controller_name, service_timeout=0.0):
def load_controller(
node, controller_manager_name, controller_name, service_timeout=0.0, call_timeout=10.0
):
request = LoadController.Request()
request.name = controller_name
return service_caller(
@@ -180,10 +193,13 @@ def load_controller(node, controller_manager_name, controller_name, service_time
LoadController,
request,
service_timeout,
call_timeout,
)


def reload_controller_libraries(node, controller_manager_name, force_kill, service_timeout=0.0):
def reload_controller_libraries(
node, controller_manager_name, force_kill, service_timeout=0.0, call_timeout=10.0
):
request = ReloadControllerLibraries.Request()
request.force_kill = force_kill
return service_caller(
@@ -192,11 +208,17 @@ def reload_controller_libraries(node, controller_manager_name, force_kill, servi
ReloadControllerLibraries,
request,
service_timeout,
call_timeout,
)


def set_hardware_component_state(
node, controller_manager_name, component_name, lifecyle_state, service_timeout=0.0
node,
controller_manager_name,
component_name,
lifecyle_state,
service_timeout=0.0,
call_timeout=10.0,
):
request = SetHardwareComponentState.Request()
request.name = component_name
@@ -206,6 +228,8 @@ def set_hardware_component_state(
f"{controller_manager_name}/set_hardware_component_state",
SetHardwareComponentState,
request,
service_timeout,
call_timeout,
)


@@ -217,6 +241,7 @@ def switch_controllers(
strict,
activate_asap,
timeout,
call_timeout=10.0,
):
request = SwitchController.Request()
request.activate_controllers = activate_controllers
@@ -228,11 +253,17 @@ def switch_controllers(
request.activate_asap = activate_asap
request.timeout = rclpy.duration.Duration(seconds=timeout).to_msg()
return service_caller(
node, f"{controller_manager_name}/switch_controller", SwitchController, request
node,
f"{controller_manager_name}/switch_controller",
SwitchController,
request,
call_timeout=call_timeout,
)


def unload_controller(node, controller_manager_name, controller_name, service_timeout=0.0):
def unload_controller(
node, controller_manager_name, controller_name, service_timeout=0.0, call_timeout=10.0
):
request = UnloadController.Request()
request.name = controller_name
return service_caller(
@@ -241,6 +272,7 @@ def unload_controller(node, controller_manager_name, controller_name, service_ti
UnloadController,
request,
service_timeout,
call_timeout,
)


35 changes: 30 additions & 5 deletions controller_manager/controller_manager/spawner.py
Original file line number Diff line number Diff line change
@@ -61,8 +61,12 @@ def has_service_names(node, node_name, node_namespace, service_names):
return all(service in client_names for service in service_names)


def is_controller_loaded(node, controller_manager, controller_name, service_timeout=0.0):
controllers = list_controllers(node, controller_manager, service_timeout).controller
def is_controller_loaded(
node, controller_manager, controller_name, service_timeout=0.0, call_timeout=10.0
):
controllers = list_controllers(
node, controller_manager, service_timeout, call_timeout
).controller
return any(c.name == controller_name for c in controllers)


@@ -120,7 +124,7 @@ def main(args=None):
)
parser.add_argument(
"--controller-manager-timeout",
help="Time to wait for the controller manager",
help="Time to wait for the controller manager service to be available",
required=False,
default=0.0,
type=float,
@@ -134,6 +138,13 @@ def main(args=None):
default=5.0,
type=float,
)
parser.add_argument(
"--service-call-timeout",
help="Time to wait for the service response from the controller manager",
required=False,
default=10.0,
type=float,
)
parser.add_argument(
"--activate-as-group",
help="Activates all the parsed controllers list together instead of one by one."
@@ -148,6 +159,7 @@ def main(args=None):
controller_manager_name = args.controller_manager
param_file = args.param_file
controller_manager_timeout = args.controller_manager_timeout
service_call_timeout = args.service_call_timeout
switch_timeout = args.switch_timeout

if param_file and not os.path.isfile(param_file):
@@ -175,7 +187,11 @@ def main(args=None):
try:
for controller_name in controller_names:
if is_controller_loaded(
node, controller_manager_name, controller_name, controller_manager_timeout
node,
controller_manager_name,
controller_name,
controller_manager_timeout,
service_call_timeout,
):
node.get_logger().warn(
bcolors.WARNING
@@ -217,7 +233,13 @@ def main(args=None):
)

if not args.load_only:
ret = configure_controller(node, controller_manager_name, controller_name)
ret = configure_controller(
node,
controller_manager_name,
controller_name,
controller_manager_timeout,
service_call_timeout,
)
if not ret.ok:
node.get_logger().error(
bcolors.FAIL + "Failed to configure controller" + bcolors.ENDC
@@ -233,6 +255,7 @@ def main(args=None):
True,
True,
switch_timeout,
service_call_timeout,
)
if not ret.ok:
node.get_logger().error(
@@ -257,6 +280,7 @@ def main(args=None):
True,
True,
switch_timeout,
service_call_timeout,
)
if not ret.ok:
node.get_logger().error(
@@ -291,6 +315,7 @@ def main(args=None):
True,
True,
switch_timeout,
service_call_timeout,
)
if not ret.ok:
node.get_logger().error(
7 changes: 5 additions & 2 deletions controller_manager/doc/userdoc.rst
Original file line number Diff line number Diff line change
@@ -91,7 +91,8 @@ 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] [--stopped] [--inactive] [-t CONTROLLER_TYPE] [-u]
[--controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT] [--switch-timeout SWITCH_TIMEOUT] [--activate-as-group]
[--controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT] [--switch-timeout SWITCH_TIMEOUT]
[--service-call-timeout SERVICE_CALL_TIMEOUT] [--activate-as-group]
controller_names [controller_names ...]

positional arguments:
@@ -112,7 +113,9 @@ There are two scripts to interact with controller manager from launch files:
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
Time to wait for the controller manager service to be available
--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 when switching cannot be performed immediately, e.g.,
paused simulations at startup
1 change: 1 addition & 0 deletions doc/release_notes.rst
Original file line number Diff line number Diff line change
@@ -22,3 +22,4 @@ controller_manager
* 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 <https://github.com/ros-controls/ros2_control/pull/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 <https://github.com/ros-controls/ros2_control/pull/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 <https://github.com/ros-controls/ros2_control/pull/1790>`_).
* 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 <https://github.com/ros-controls/ros2_control/pull/1808>`_).