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christophfroehlichchristophfroehlich
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Revert spawner reordering (#547)
1 parent dc61fbe commit a265305

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15 files changed

+81
-109
lines changed

15 files changed

+81
-109
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", "--param-file", robot_controllers],
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 & 15 deletions
Original file line numberDiff line numberDiff line change
@@ -127,29 +127,20 @@ 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_remapped = RegisterEventHandler(
130+
# Delay start of robot_controller after `joint_state_broadcaster`
131+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
133132
event_handler=OnProcessExit(
134-
target_action=robot_bicycle_controller_spawner_remapped,
135-
on_exit=[joint_state_broadcaster_spawner],
136-
)
137-
)
138-
delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
139-
event_handler=OnProcessExit(
140-
target_action=robot_bicycle_controller_spawner,
141-
on_exit=[joint_state_broadcaster_spawner],
133+
target_action=joint_state_broadcaster_spawner,
134+
on_exit=[robot_bicycle_controller_spawner_remapped, robot_bicycle_controller_spawner],
142135
)
143136
)
144137

145138
nodes = [
146139
control_node,
147140
robot_state_pub_bicycle_node,
148-
robot_bicycle_controller_spawner_remapped,
149-
robot_bicycle_controller_spawner,
150-
delay_joint_state_broadcaster_after_robot_controller_spawner_remapped,
151-
delay_joint_state_broadcaster_after_robot_controller_spawner,
141+
joint_state_broadcaster_spawner,
152142
delay_rviz_after_joint_state_broadcaster_spawner,
143+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
153144
]
154145

155146
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: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -229,9 +229,9 @@ def generate_launch_description():
229229
nodes = [
230230
control_node,
231231
robot_state_pub_node,
232-
robot_controller_spawner,
233232
joint_state_broadcaster_spawner,
234233
delay_rviz_after_joint_state_broadcaster_spawner,
234+
robot_controller_spawner,
235235
]
236236

237237
return LaunchDescription(declared_arguments + nodes)

‎example_15/bringup/launch/rrbot_namespace.launch.py‎

Lines changed: 1 addition & 1 deletion
Original file line numberDiff line numberDiff line change
@@ -134,9 +134,9 @@ def generate_launch_description():
134134
nodes = [
135135
control_node,
136136
robot_state_pub_node,
137+
joint_state_broadcaster_spawner,
137138
delay_rviz_after_joint_state_broadcaster_spawner,
138139
robot_forward_position_controller_spawner,
139-
joint_state_broadcaster_spawner,
140140
robot_position_trajectory_controller_spawner,
141141
]
142142

‎example_2/bringup/launch/diffbot.launch.py‎

Lines changed: 6 additions & 7 deletions
Original file line numberDiff line numberDiff line change
@@ -117,21 +117,20 @@ def generate_launch_description():
117117
)
118118
)
119119

120-
# Delay start of joint_state_broadcaster after `robot_controller`
121-
# TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
122-
delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
120+
# Delay start of robot_controller after `joint_state_broadcaster`
121+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
123122
event_handler=OnProcessExit(
124-
target_action=robot_controller_spawner,
125-
on_exit=[joint_state_broadcaster_spawner],
123+
target_action=joint_state_broadcaster_spawner,
124+
on_exit=[robot_controller_spawner],
126125
)
127126
)
128127

129128
nodes = [
130129
control_node,
131130
robot_state_pub_node,
132-
robot_controller_spawner,
131+
joint_state_broadcaster_spawner,
133132
delay_rviz_after_joint_state_broadcaster_spawner,
134-
delay_joint_state_broadcaster_after_robot_controller_spawner,
133+
delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
135134
]
136135

137136
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

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