Revert spawner reordering (#547) (#967)

(cherry picked from commit a265305)

Co-authored-by: Christoph Fröhlich <[email protected]>

Author: mergify[bot]

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)

example_10/bringup/launch/rrbot.launch.py

@@ -93,27 +93,20 @@ def generate_launch_description():
         arguments=["gpio_controller", "--param-file", robot_controllers],
     )
 
-    # 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)

example_11/bringup/launch/carlikebot.launch.py

@@ -127,29 +127,20 @@ 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_remapped = 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_remapped,
-            on_exit=[joint_state_broadcaster_spawner],
-        )
-    )
-    delay_joint_state_broadcaster_after_robot_controller_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_remapped, robot_bicycle_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_bicycle_node,
-        robot_bicycle_controller_spawner_remapped,
-        robot_bicycle_controller_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner_remapped,
-        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)

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)

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)

example_15/bringup/launch/rrbot_base.launch.py

@@ -229,9 +229,9 @@ def generate_launch_description():
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
         joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
+        robot_controller_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)

example_15/bringup/launch/rrbot_namespace.launch.py

@@ -134,9 +134,9 @@ 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,
-        joint_state_broadcaster_spawner,
         robot_position_trajectory_controller_spawner,
     ]
 

example_2/bringup/launch/diffbot.launch.py

@@ -117,21 +117,20 @@ 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)

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)

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,
     ]