Play sim automatically #52
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hilary-luo
requested review from
tonybaltovski,
mhosmar-cpr,
civerachb-cpr,
roni-kreinin and
luis-camero
and removed request for
a team
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@hilary-luo Can you keep this the default behaviour but add a launch argument allowing the sim to be launched paused? |
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@roni-kreinin I can do that, is there an expected use case for this? As things currently stand, if they do not press play within 5 seconds of launch then the simulation will fail. |
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Its just to maintain backwards compatibility with how it worked before. |
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Fixes #46, #50
This change is in reaction to the following PR: ros-controls/ros2_control#1659 where a timeout is added for the switch controller service. This timeout is hardcoded as 5 seconds here: https://github.com/ros-controls/ros2_control/blob/8779757f7e5cdb5e6998d9b162e65015003e3c1f/controller_manager/controller_manager/spawner.py#L332
Further discussion should be had on proposing to parameterize that timeout so that we can adapt for low resource sims which are slow to launch and/or making the timeout based on ROS time.