diff --git a/example_1/bringup/launch/rrbot.launch.py b/example_1/bringup/launch/rrbot.launch.py index 23ad9850e..39ac01fd8 100644 --- 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 index 1fdda5610..b535123a1 100644 --- 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", "--param-file", robot_controllers], ) - # 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 index 47c3c3327..ba4d2d47f 100644 --- a/example_11/bringup/launch/carlikebot.launch.py +++ b/example_11/bringup/launch/carlikebot.launch.py @@ -125,12 +125,11 @@ 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], ) ) @@ -138,9 +137,9 @@ def generate_launch_description(): 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 index d2255deb5..b1524f963 100644 --- 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/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py b/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py index 1dc258917..09c168f08 100644 --- a/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py +++ b/example_14/bringup/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 index 97ba4947f..1e75578bb 100644 --- a/example_15/bringup/launch/rrbot_base.launch.py +++ b/example_15/bringup/launch/rrbot_base.launch.py @@ -229,9 +229,9 @@ def generate_launch_description(): nodes = [ control_node, robot_state_pub_node, - 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 index 537bdb208..002e153ab 100644 --- a/example_15/bringup/launch/rrbot_namespace.launch.py +++ b/example_15/bringup/launch/rrbot_namespace.launch.py @@ -134,9 +134,9 @@ 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, - joint_state_broadcaster_spawner, robot_position_trajectory_controller_spawner, ] diff --git a/example_2/bringup/launch/diffbot.launch.py b/example_2/bringup/launch/diffbot.launch.py index 1c345464f..10d774e71 100644 --- 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 index 587a77b32..c577953b3 100644 --- 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 index e81257a92..770d627dc 100644 --- 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 index b69d96fbd..cc2cf26f3 100755 --- 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 index 64ecd5e65..9bfbf56c9 100644 --- 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 index f397e5311..119b2d5e4 100644 --- a/example_7/bringup/launch/r6bot_controller.launch.py +++ b/example_7/bringup/launch/r6bot_controller.launch.py @@ -102,21 +102,20 @@ 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_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py b/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py index 94d8bfdbc..10b24fe9d 100644 --- a/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py +++ b/example_8/bringup/launch/rrbot_transmissions_system_position_only.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_9/bringup/launch/rrbot.launch.py b/example_9/bringup/launch/rrbot.launch.py index 9e21fc8a9..e619c03bf 100644 --- a/example_9/bringup/launch/rrbot.launch.py +++ b/example_9/bringup/launch/rrbot.launch.py @@ -106,21 +106,20 @@ 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)