Revert "Reorder controller spawners"

This reverts commit 0b8382b.
ros-controls · Jul 30, 2024 · a1fde13 · a1fde13
1 parent 0ba16d2
commit a1fde13
Show file tree

Hide file tree

Showing 15 changed files with 90 additions and 118 deletions.
diff --git a/example_1/bringup/launch/rrbot.launch.py b/example_1/bringup/launch/rrbot.launch.py
@@ -105,21 +105,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_10/bringup/launch/rrbot.launch.py b/example_10/bringup/launch/rrbot.launch.py
@@ -93,27 +93,20 @@ def generate_launch_description():
         arguments=["gpio_controller", "-c", "/controller_manager"],
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_gpio_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[gpio_controller_spawner],
-        )
-    )
-    delay_joint_state_broadcaster_after_gpio_controller_spawner = RegisterEventHandler(
-        event_handler=OnProcessExit(
-            target_action=gpio_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
-        delay_gpio_after_robot_controller_spawner,
-        delay_joint_state_broadcaster_after_gpio_controller_spawner,
+        joint_state_broadcaster_spawner,
+        gpio_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_11/bringup/launch/carlikebot.launch.py b/example_11/bringup/launch/carlikebot.launch.py
@@ -125,22 +125,21 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_bicycle_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_bicycle_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         control_node_remapped,
         robot_state_pub_bicycle_node,
-        robot_bicycle_controller_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_12/bringup/launch/rrbot.launch.py b/example_12/bringup/launch/rrbot.launch.py
@@ -111,22 +111,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=j1_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[j1_controller_spawner, j2_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        j1_controller_spawner,
-        j2_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/...p/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py b/...p/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py
@@ -134,21 +134,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_15/bringup/launch/rrbot_base.launch.py b/example_15/bringup/launch/rrbot_base.launch.py
@@ -220,21 +220,12 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
-        event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
-        )
-    )
-
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
+        robot_controller_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_15/bringup/launch/rrbot_namespace.launch.py b/example_15/bringup/launch/rrbot_namespace.launch.py
@@ -127,12 +127,13 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
-        event_handler=OnProcessExit(
-            target_action=robot_forward_position_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_forward_position_controller_spawner_after_joint_state_broadcaster_spawner = (
+        RegisterEventHandler(
+            event_handler=OnProcessExit(
+                target_action=joint_state_broadcaster_spawner,
+                on_exit=[robot_forward_position_controller_spawner],
+            )
         )
     )
 
@@ -149,9 +150,9 @@ def generate_launch_description():
     nodes = [
         control_node,
         robot_state_pub_node,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        robot_forward_position_controller_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_forward_position_controller_spawner_after_joint_state_broadcaster_spawner,
         delay_robot_position_trajectory_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 

diff --git a/example_2/bringup/launch/diffbot.launch.py b/example_2/bringup/launch/diffbot.launch.py
@@ -114,21 +114,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py
@@ -157,21 +157,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_4/bringup/launch/rrbot_system_with_sensor.launch.py b/example_4/bringup/launch/rrbot_system_with_sensor.launch.py
@@ -156,21 +156,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
         fts_broadcaster_spawner,
     ]
 

diff --git a/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py b/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py
@@ -156,21 +156,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
         fts_broadcaster_spawner,
     ]
 

diff --git a/example_6/bringup/launch/rrbot_modular_actuators.launch.py b/example_6/bringup/launch/rrbot_modular_actuators.launch.py
@@ -157,21 +157,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_7/bringup/launch/r6bot_controller.launch.py b/example_7/bringup/launch/r6bot_controller.launch.py
@@ -108,21 +108,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)