Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Initialize the controller manager services after initializing resource manager (backport #1271) #1278

Merged
merged 2 commits into from
Jan 8, 2024
Merged

Initialize the controller manager services after initializing resource manager (backport #1271) #1278

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
1e923b9
Initialize the controller manager services after initializing resourc…
saikishor Jan 8, 2024
cc540eb
fixup conflicts
bmagyar Jan 8, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
8 changes: 6 additions & 2 deletions controller_manager/src/controller_manager.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -281,12 +281,12 @@ ControllerManager::ControllerManager(
"[Deprecated] Passing the robot description parameter directly to the control_manager node "
"is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.");
init_resource_manager(robot_description);
init_services();
}

diagnostics_updater_.setHardwareID("ros2_control");
diagnostics_updater_.add(
"Controllers Activity", this, &ControllerManager::controller_activity_diagnostic_callback);
init_services();
}

ControllerManager::ControllerManager(
Expand All @@ -308,12 +308,15 @@ ControllerManager::ControllerManager(
RCLCPP_WARN(get_logger(), "'update_rate' parameter not set, using default value.");
}

if (resource_manager_->is_urdf_already_loaded())
{
init_services();
}
subscribe_to_robot_description_topic();

diagnostics_updater_.setHardwareID("ros2_control");
diagnostics_updater_.add(
"Controllers Activity", this, &ControllerManager::controller_activity_diagnostic_callback);
init_services();
}

void ControllerManager::subscribe_to_robot_description_topic()
Expand Down Expand Up @@ -346,6 +349,7 @@ void ControllerManager::robot_description_callback(const std_msgs::msg::String &
return;
}
init_resource_manager(robot_description.data.c_str());
init_services();
}
catch (std::runtime_error & e)
{
Expand Down
12 changes: 9 additions & 3 deletions controller_manager/test/test_hardware_management_srvs.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,9 @@ class TestControllerManagerHWManagementSrvs : public TestControllerManagerSrvs
"Unable to initialize resource manager, no robot description found.");
}

cm_->init_resource_manager(robot_description);
auto msg = std_msgs::msg::String();
msg.data = robot_description_;
cm_->robot_description_callback(msg);

SetUpSrvsCMExecutor();
}
Expand Down Expand Up @@ -383,7 +385,9 @@ class TestControllerManagerHWManagementSrvsWithoutParams
"Unable to initialize resource manager, no robot description found.");
}

cm_->init_resource_manager(robot_description);
auto msg = std_msgs::msg::String();
msg.data = robot_description_;
cm_->robot_description_callback(msg);

SetUpSrvsCMExecutor();
}
Expand Down Expand Up @@ -440,7 +444,9 @@ class TestControllerManagerHWManagementSrvsOldParameters
"Unable to initialize resource manager, no robot description found.");
}

cm_->init_resource_manager(robot_description);
auto msg = std_msgs::msg::String();
msg.data = robot_description_;
cm_->robot_description_callback(msg);

SetUpSrvsCMExecutor();
}
Expand Down
Loading