AMRNAV-6169 Extend use of composition: ros2 control #1
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… resource manager (backport ros-controls#1271) (ros-controls#1278)" This reverts commit 9387936.
HovorunB
commented
Jan 17, 2024
| controller_name, namespace_, node_options, false); // disable LifecycleNode service interfaces | ||
| controller_name, namespace_, rclcpp::NodeOptions().enable_logger_service(true).arguments({ | ||
| "--ros-args", | ||
| "--remap", ("__node:=" + controller_name).c_str()}), false); // disable LifecycleNode service interfaces |
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Remapping with the same name, otherwise the name is overriden from the composable node container (amr_container)
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| init_timer_ = this->create_wall_timer( | ||
| 1s, | ||
| [this]() -> void { | ||
| init_timer_->cancel(); | ||
| update_loop(); | ||
| }); | ||
| }; |
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Workaround to execute the update_loop thread from outside the constructor
| @@ -465,6 +511,52 @@ void ControllerManager::init_resource_manager(const std::string & robot_descript | |||
| } | |||
| } | |||
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| void ControllerManager::update_loop(){ | |||
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For normal launch this same code is ran from ros2_control_node. But for launching controller_manager as a composed node we have to run it from inside controller manager
| @@ -41,6 +41,7 @@ target_compile_definitions(hardware_interface PRIVATE "HARDWARE_INTERFACE_BUILDI | |||
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| add_library(mock_components SHARED | |||
| src/mock_components/generic_system.cpp | |||
| src/lexical_casts.cpp | |||
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Ticket: https://lvserv01.logivations.com/browse/AMRNAV-6169
Documentation: https://coda.io/d/Autonomous-Mobile-Robot_da82dg_s4hc/Composable-Nodes_suvus?searchClick=0d961e16-bddd-4703-ac21-3d9465d6bcfb_a82dg_s4hc#_luraL
Changes in this PR:
See the PR comments for the rest of the changes