diff --git a/controller_manager/controller_manager/controller_manager_services.py b/controller_manager/controller_manager/controller_manager_services.py index 62b350f7d3..be11a4b782 100644 --- a/controller_manager/controller_manager/controller_manager_services.py +++ b/controller_manager/controller_manager/controller_manager_services.py @@ -28,15 +28,20 @@ import rclpy -def service_caller(node, service_name, service_type, request, service_timeout=10.0): +class ServiceNotFoundError(Exception): + pass + + +def service_caller(node, service_name, service_type, request, service_timeout=0.0): cli = node.create_client(service_type, service_name) - if not cli.service_is_ready(): - node.get_logger().debug( - f"waiting {service_timeout} seconds for service {service_name} to become available..." - ) - if not cli.wait_for_service(service_timeout): - raise RuntimeError(f"Could not contact service {service_name}") + while not cli.service_is_ready(): + node.get_logger().info(f"waiting for service {service_name} to become available...") + if service_timeout: + if not cli.wait_for_service(service_timeout): + raise ServiceNotFoundError(f"Could not contact service {service_name}") + elif not cli.wait_for_service(10.0): + node.get_logger().warn(f"Could not contact service {service_name}") node.get_logger().debug(f"requester: making request: {request}\n") future = cli.call_async(request) @@ -47,7 +52,7 @@ def service_caller(node, service_name, service_type, request, service_timeout=10 raise RuntimeError(f"Exception while calling service: {future.exception()}") -def configure_controller(node, controller_manager_name, controller_name, service_timeout=10.0): +def configure_controller(node, controller_manager_name, controller_name, service_timeout=0.0): request = ConfigureController.Request() request.name = controller_name return service_caller( @@ -59,7 +64,7 @@ def configure_controller(node, controller_manager_name, controller_name, service ) -def list_controllers(node, controller_manager_name, service_timeout=10.0): +def list_controllers(node, controller_manager_name, service_timeout=0.0): request = ListControllers.Request() return service_caller( node, @@ -70,7 +75,7 @@ def list_controllers(node, controller_manager_name, service_timeout=10.0): ) -def list_controller_types(node, controller_manager_name, service_timeout=10.0): +def list_controller_types(node, controller_manager_name, service_timeout=0.0): request = ListControllerTypes.Request() return service_caller( node, @@ -81,7 +86,7 @@ def list_controller_types(node, controller_manager_name, service_timeout=10.0): ) -def list_hardware_components(node, controller_manager_name, service_timeout=10.0): +def list_hardware_components(node, controller_manager_name, service_timeout=0.0): request = ListHardwareComponents.Request() return service_caller( node, @@ -92,7 +97,7 @@ def list_hardware_components(node, controller_manager_name, service_timeout=10.0 ) -def list_hardware_interfaces(node, controller_manager_name, service_timeout=10.0): +def list_hardware_interfaces(node, controller_manager_name, service_timeout=0.0): request = ListHardwareInterfaces.Request() return service_caller( node, @@ -103,7 +108,7 @@ def list_hardware_interfaces(node, controller_manager_name, service_timeout=10.0 ) -def load_controller(node, controller_manager_name, controller_name, service_timeout=10.0): +def load_controller(node, controller_manager_name, controller_name, service_timeout=0.0): request = LoadController.Request() request.name = controller_name return service_caller( @@ -115,7 +120,7 @@ def load_controller(node, controller_manager_name, controller_name, service_time ) -def reload_controller_libraries(node, controller_manager_name, force_kill, service_timeout=10.0): +def reload_controller_libraries(node, controller_manager_name, force_kill, service_timeout=0.0): request = ReloadControllerLibraries.Request() request.force_kill = force_kill return service_caller( @@ -128,7 +133,7 @@ def reload_controller_libraries(node, controller_manager_name, force_kill, servi def set_hardware_component_state( - node, controller_manager_name, component_name, lifecyle_state, service_timeout=10.0 + node, controller_manager_name, component_name, lifecyle_state, service_timeout=0.0 ): request = SetHardwareComponentState.Request() request.name = component_name @@ -165,7 +170,7 @@ def switch_controllers( ) -def unload_controller(node, controller_manager_name, controller_name, service_timeout=10.0): +def unload_controller(node, controller_manager_name, controller_name, service_timeout=0.0): request = UnloadController.Request() request.name = controller_name return service_caller( diff --git a/controller_manager/controller_manager/hardware_spawner.py b/controller_manager/controller_manager/hardware_spawner.py index c95fb6181e..3e3a487c6a 100644 --- a/controller_manager/controller_manager/hardware_spawner.py +++ b/controller_manager/controller_manager/hardware_spawner.py @@ -15,13 +15,15 @@ import argparse import sys -import time -from controller_manager import set_hardware_component_state +from controller_manager import ( + list_hardware_components, + set_hardware_component_state, +) +from controller_manager.controller_manager_services import ServiceNotFoundError from lifecycle_msgs.msg import State import rclpy -from rclpy.duration import Duration from rclpy.node import Node from rclpy.signals import SignalHandlerOptions @@ -43,17 +45,6 @@ def first_match(iterable, predicate): return next((n for n in iterable if predicate(n)), None) -def wait_for_value_or(function, node, timeout, default, description): - while node.get_clock().now() < timeout: - if result := function(): - return result - node.get_logger().info( - f"Waiting for {description}", throttle_duration_sec=2, skip_first=True - ) - time.sleep(0.2) - return default - - def combine_name_and_namespace(name_and_namespace): node_name, namespace = name_and_namespace return namespace + ("" if namespace.endswith("/") else "/") + node_name @@ -75,35 +66,11 @@ def has_service_names(node, node_name, node_namespace, service_names): return all(service in client_names for service in service_names) -def wait_for_controller_manager(node, controller_manager, timeout_duration): - # List of service names from controller_manager we wait for - service_names = ( - f"{controller_manager}/list_hardware_components", - f"{controller_manager}/set_hardware_component_state", - ) - - # Wait for controller_manager - timeout = node.get_clock().now() + Duration(seconds=timeout_duration) - node_and_namespace = wait_for_value_or( - lambda: find_node_and_namespace(node, controller_manager), - node, - timeout, - None, - f"'{controller_manager}' node to exist", - ) - - # Wait for the services if the node was found - if node_and_namespace: - node_name, namespace = node_and_namespace - return wait_for_value_or( - lambda: has_service_names(node, node_name, namespace, service_names), - node, - timeout, - False, - f"'{controller_manager}' services to be available", - ) - - return False +def is_hardware_component_loaded( + node, controller_manager, hardware_component, service_timeout=0.0 +): + components = list_hardware_components(node, hardware_component, service_timeout).component + return any(c.name == hardware_component for c in components) def handle_set_component_state_service_call( @@ -167,10 +134,9 @@ def main(args=None): "--controller-manager-timeout", help="Time to wait for the controller manager", required=False, - default=10, - type=int, + default=0, + type=float, ) - # add arguments which are mutually exclusive activate_or_confiigure_grp.add_argument( "--activate", @@ -202,13 +168,15 @@ def main(args=None): controller_manager_name = f"/{controller_manager_name}" try: - if not wait_for_controller_manager( - node, controller_manager_name, controller_manager_timeout + if not is_hardware_component_loaded( + node, controller_manager_name, hardware_component, controller_manager_timeout ): - node.get_logger().error("Controller manager not available") - return 1 - - if activate: + node.get_logger().warn( + bcolors.WARNING + + "Hardware Component is not loaded - state can not be changed." + + bcolors.ENDC + ) + elif activate: activate_components(node, controller_manager_name, hardware_component) elif configure: configure_components(node, controller_manager_name, hardware_component) @@ -218,6 +186,11 @@ def main(args=None): ) parser.print_help() return 0 + except KeyboardInterrupt: + pass + except ServiceNotFoundError as err: + node.get_logger().fatal(str(err)) + return 1 finally: rclpy.shutdown() diff --git a/controller_manager/controller_manager/spawner.py b/controller_manager/controller_manager/spawner.py index a8b5d25eff..0e83eb9d07 100644 --- a/controller_manager/controller_manager/spawner.py +++ b/controller_manager/controller_manager/spawner.py @@ -28,10 +28,10 @@ switch_controllers, unload_controller, ) +from controller_manager.controller_manager_services import ServiceNotFoundError import rclpy from rcl_interfaces.msg import Parameter -from rclpy.duration import Duration from rclpy.node import Node # @note: The versions conditioning is added here to support the source-compatibility with Humble @@ -62,17 +62,6 @@ def first_match(iterable, predicate): return next((n for n in iterable if predicate(n)), None) -def wait_for_value_or(function, node, timeout, default, description): - while node.get_clock().now() < timeout: - if result := function(): - return result - node.get_logger().info( - f"Waiting for {description}", throttle_duration_sec=2, skip_first=True - ) - time.sleep(0.2) - return default - - def combine_name_and_namespace(name_and_namespace): node_name, namespace = name_and_namespace return namespace + ("" if namespace.endswith("/") else "/") + node_name @@ -93,46 +82,8 @@ def has_service_names(node, node_name, node_namespace, service_names): return all(service in client_names for service in service_names) -def wait_for_controller_manager(node, controller_manager, timeout_duration): - # List of service names from controller_manager we wait for - service_names = ( - f"{controller_manager}/configure_controller", - f"{controller_manager}/list_controllers", - f"{controller_manager}/list_controller_types", - f"{controller_manager}/list_hardware_components", - f"{controller_manager}/list_hardware_interfaces", - f"{controller_manager}/load_controller", - f"{controller_manager}/reload_controller_libraries", - f"{controller_manager}/switch_controller", - f"{controller_manager}/unload_controller", - ) - - # Wait for controller_manager - timeout = node.get_clock().now() + Duration(seconds=timeout_duration) - node_and_namespace = wait_for_value_or( - lambda: find_node_and_namespace(node, controller_manager), - node, - timeout, - None, - f"'{controller_manager}' node to exist", - ) - - # Wait for the services if the node was found - if node_and_namespace: - node_name, namespace = node_and_namespace - return wait_for_value_or( - lambda: has_service_names(node, node_name, namespace, service_names), - node, - timeout, - False, - f"'{controller_manager}' services to be available", - ) - - return False - - -def is_controller_loaded(node, controller_manager, controller_name): - controllers = list_controllers(node, controller_manager).controller +def is_controller_loaded(node, controller_manager, controller_name, service_timeout=0.0): + controllers = list_controllers(node, controller_manager, service_timeout).controller return any(c.name == controller_name for c in controllers) @@ -201,8 +152,8 @@ def main(args=None): "--controller-manager-timeout", help="Time to wait for the controller manager", required=False, - default=10, - type=int, + default=0, + type=float, ) parser.add_argument( "--activate-as-group", @@ -258,18 +209,12 @@ def main(args=None): controller_manager_name = f"/{controller_manager_name}" try: - if not wait_for_controller_manager( - node, controller_manager_name, controller_manager_timeout - ): - node.get_logger().error( - bcolors.FAIL + "Controller manager not available" + bcolors.ENDC - ) - return 1 - for controller_name in controller_names: fallback_controllers = args.fallback_controllers - if is_controller_loaded(node, controller_manager_name, controller_name): + if is_controller_loaded( + node, controller_manager_name, controller_name, controller_manager_timeout + ): node.get_logger().warn( bcolors.WARNING + "Controller already loaded, skipping load_controller" @@ -471,6 +416,11 @@ def main(args=None): node.get_logger().info("Unloaded controller") return 0 + except KeyboardInterrupt: + pass + except ServiceNotFoundError as err: + node.get_logger().fatal(str(err)) + return 1 finally: rclpy.shutdown() diff --git a/controller_manager/controller_manager/unspawner.py b/controller_manager/controller_manager/unspawner.py index 5acf05e65d..e42d85aee9 100644 --- a/controller_manager/controller_manager/unspawner.py +++ b/controller_manager/controller_manager/unspawner.py @@ -19,6 +19,7 @@ import warnings from controller_manager import switch_controllers, unload_controller +from controller_manager.controller_manager_services import ServiceNotFoundError import rclpy from rclpy.node import Node @@ -57,6 +58,11 @@ def main(args=None): node.get_logger().info("Unloaded controller") return 0 + except KeyboardInterrupt: + pass + except ServiceNotFoundError as err: + node.get_logger().fatal(str(err)) + return 1 finally: rclpy.shutdown() diff --git a/controller_manager/doc/userdoc.rst b/controller_manager/doc/userdoc.rst index 6338211665..bc9f75384e 100644 --- a/controller_manager/doc/userdoc.rst +++ b/controller_manager/doc/userdoc.rst @@ -136,6 +136,7 @@ There are two scripts to interact with controller manager from launch files: 1. ``spawner`` - loads, configures and start a controller on startup. 2. ``unspawner`` - stops and unloads a controller. + 3. ``hardware_spawner`` - activates and configures a hardware component. ``spawner`` @@ -186,6 +187,25 @@ There are two scripts to interact with controller manager from launch files: -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER Name of the controller manager ROS node +``hardware_spawner`` +^^^^^^^^^^^^^^^^^^^^^^ + +.. code-block:: console + + $ ros2 run controller_manager hardware_spawner -h + usage: hardware_spawner [-h] [-c CONTROLLER_MANAGER] (--activate | --configure) hardware_component_name + + positional arguments: + hardware_component_name + The name of the hardware component which should be activated. + + options: + -h, --help show this help message and exit + -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER + Name of the controller manager ROS node + --activate Activates the given components. Note: Components are by default configured before activated. + --configure Configures the given components. + rqt_controller_manager ---------------------- A GUI tool to interact with the controller manager services to be able to switch the lifecycle states of the controllers as well as the hardware components. diff --git a/controller_manager/test/test_spawner_unspawner.cpp b/controller_manager/test/test_spawner_unspawner.cpp index fa27ee2c97..3edf770436 100644 --- a/controller_manager/test/test_spawner_unspawner.cpp +++ b/controller_manager/test/test_spawner_unspawner.cpp @@ -88,9 +88,10 @@ TEST_F(TestLoadController, spawner_with_no_arguments_errors) EXPECT_NE(call_spawner(""), 0) << "Missing mandatory arguments"; } -TEST_F(TestLoadController, spawner_without_manager_errors) +TEST_F(TestLoadController, spawner_without_manager_errors_with_given_timeout) { - EXPECT_NE(call_spawner("ctrl_1"), 0) << "Wrong controller manager name"; + EXPECT_NE(call_spawner("ctrl_1 --controller-manager-timeout 1.0"), 0) + << "Wrong controller manager name"; } TEST_F(TestLoadController, spawner_without_type_parameter_or_arg_errors) @@ -283,7 +284,9 @@ TEST_F(TestLoadController, spawner_test_type_in_params_file) EXPECT_EQ( call_spawner( - "ctrl_with_parameters_and_no_type -c test_controller_manager -p " + test_file_path), + "ctrl_with_parameters_and_no_type -c test_controller_manager --controller-manager-timeout " + "1.0 -p " + + test_file_path), 256); // Will still be same as the current call will fail ASSERT_EQ(cm_->get_loaded_controllers().size(), 2ul); @@ -422,7 +425,7 @@ TEST_F(TestLoadControllerWithoutRobotDescription, when_no_robot_description_spaw cm_->set_parameter(rclcpp::Parameter("ctrl_1.type", test_controller::TEST_CONTROLLER_CLASS_NAME)); ControllerManagerRunner cm_runner(this); - EXPECT_EQ(call_spawner("ctrl_1 -c test_controller_manager"), 256) + EXPECT_EQ(call_spawner("ctrl_1 -c test_controller_manager --controller-manager-timeout 1.0"), 256) << "could not spawn controller because not robot description and not services for controller " "manager are active"; } @@ -504,7 +507,8 @@ TEST_F(TestLoadControllerWithNamespacedCM, multi_ctrls_test_type_in_param) cm_->set_parameter(rclcpp::Parameter("ctrl_3.type", test_controller::TEST_CONTROLLER_CLASS_NAME)); ControllerManagerRunner cm_runner(this); - EXPECT_EQ(call_spawner("ctrl_1 ctrl_2 -c test_controller_manager"), 256) + EXPECT_EQ( + call_spawner("ctrl_1 ctrl_2 -c test_controller_manager --controller-manager-timeout 1.0"), 256) << "Should fail without defining the namespace"; EXPECT_EQ( call_spawner("ctrl_1 ctrl_2 -c test_controller_manager --ros-args -r __ns:=/foo_namespace"), 0); @@ -603,7 +607,7 @@ TEST_F(TestLoadControllerWithNamespacedCM, spawner_test_type_in_params_file) EXPECT_EQ( call_spawner( "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c " - "test_controller_manager -p " + + "test_controller_manager --controller-manager-timeout 1.0 -p " + test_file_path), 256) << "Should fail without the namespacing it"; @@ -663,21 +667,21 @@ TEST_F( EXPECT_EQ( call_spawner( "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c " - "test_controller_manager -p " + + "test_controller_manager --controller-manager-timeout 1.0 -p " + test_file_path), 256) << "Should fail without the namespacing it"; EXPECT_EQ( call_spawner( "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c " - "test_controller_manager --namespace foo_namespace -p " + + "test_controller_manager --namespace foo_namespace --controller-manager-timeout 1.0 -p " + test_file_path + " --ros-args -r __ns:=/random_namespace"), 256) << "Should fail when parsed namespace through both way with different namespaces"; EXPECT_EQ( call_spawner( "ctrl_with_parameters_and_type chainable_ctrl_with_parameters_and_type --load-only -c " - "test_controller_manager --namespace foo_namespace -p " + + "test_controller_manager --namespace foo_namespace --controller-manager-timeout 1.0 -p" + test_file_path + " --ros-args -r __ns:=/foo_namespace"), 256) << "Should fail when parsed namespace through both ways even with same namespacing name";