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Configurable spawn entity wait for service timeout #1072

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merged 1 commit into from
Mar 31, 2020
Merged

Configurable spawn entity wait for service timeout #1072

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5 changes: 4 additions & 1 deletion gazebo_ros/scripts/spawn_entity.py
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Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,9 @@ def __init__(self, args):
Default is without any namespace')
parser.add_argument('-robot_namespace', type=str, default=self.get_namespace(),
help='change ROS namespace of gazebo-plugins')
parser.add_argument('-timeout', type=float, default=30.0,
help='Number of seconds to wait for the spawn entity service to \
become available')
parser.add_argument('-unpause', action='store_true',
help='unpause physics after spawning entity')
parser.add_argument('-wait', type=str, metavar='ENTITY_NAME',
Expand Down Expand Up @@ -234,7 +237,7 @@ def entity_xml_cb(msg):
# Unpause physics if user requested
if self.args.unpause:
client = self.create_client(Empty, '%s/unpause_physics' % self.args.gazebo_namespace)
if client.wait_for_service(timeout_sec=5.0):
if client.wait_for_service(timeout_sec=self.args.timeout):
self.get_logger().info(
'Calling service %s/unpause_physics' % self.args.gazebo_namespace)
client.call_async(Empty.Request())
Expand Down