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Signed-off-by: Tony Najjar <[email protected]>
ros-controls · Nov 6, 2024 · 5735f0d · 5735f0d
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diff --git a/controller_manager/doc/userdoc.rst b/controller_manager/doc/userdoc.rst
@@ -158,7 +158,7 @@ There are two scripts to interact with controller manager from launch files:
 
     $ ros2 run controller_manager spawner -h
     usage: spawner [-h] [-c CONTROLLER_MANAGER] [-p PARAM_FILE] [-n NAMESPACE] [--load-only] [--inactive] [-t CONTROLLER_TYPE] [-u]
-                      [--controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT]
+                      [--controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT] [--controller-manager-call-timeout CONTROLLER_MANAGER_CALL_TIMEOUT]
                       controller_name
 
     positional arguments:
@@ -176,7 +176,9 @@ There are two scripts to interact with controller manager from launch files:
       --inactive            Load and configure the controller, however do not activate them
       -u, --unload-on-kill  Wait until this application is interrupted and unload controller
       --controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT
-                            Time to wait for the controller manager
+                            Time to wait for the controller 
+      --controller-manager-call-timeout CONTROLLER_MANAGER_CALL_TIMEOUT
+                            Time to wait for the service response from the controller manager
       --activate-as-group   Activates all the parsed controllers list together instead of one by one. Useful for activating all chainable controllers altogether
       --fallback_controllers FALLBACK_CONTROLLERS [FALLBACK_CONTROLLERS ...]
                             Fallback controllers list are activated as a fallback strategy when the spawned controllers fail. When the argument is provided, it takes precedence over the fallback_controllers list in the

diff --git a/doc/release_notes.rst b/doc/release_notes.rst
@@ -79,6 +79,7 @@ controller_manager
 * The ``ros2_control_node`` node now accepts the ``thread_priority`` parameter to set the scheduler priority of the controller_manager's RT thread (`#1820 <https://github.com/ros-controls/ros2_control/pull/1820>`_).
 * The ``ros2_control_node`` node has a new ``lock_memory`` parameter to lock memory at startup to physical RAM in order to avoid page faults (`#1822 <https://github.com/ros-controls/ros2_control/pull/1822>`_).
 * The ``ros2_control_node`` node has a new ``cpu_affinity`` parameter to bind the process to a specific CPU core. By default, this is not enabled. (`#1852 <https://github.com/ros-controls/ros2_control/pull/1852>`_).
+* The ``--controller-manager-call-timeout`` was added as parameter to the helper scripts ``spawner.py``. Useful when the CPU load is high at startup and the service call does not return immediately (`#1808 <https://github.com/ros-controls/ros2_control/pull/1808>`_).
 
 hardware_interface
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