Bring back --controller-manager-timeout option

controller_manager/controller_manager/controller_manager_services.py

@@ -28,14 +28,16 @@
 import rclpy
 
 
-def service_caller(node, service_name, service_type, request, service_timeout=10.0):
+def service_caller(node, service_name, service_type, request, service_timeout=0.0):
     cli = node.create_client(service_type, service_name)
 
     while 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):
+        node.get_logger().debug(f"waiting for service {service_name} to become available...")
+        if service_timeout:
+            if not cli.wait_for_service(service_timeout):
+                node.get_logger().fatal(f"Could not contact service {service_name}")
+                raise RuntimeError(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")
@@ -47,7 +49,7 @@ 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 +61,7 @@ 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 +72,7 @@ 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 +83,7 @@ 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 +94,7 @@ 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 +105,7 @@ 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 +117,7 @@ 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(
@@ -127,9 +129,7 @@ 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
-):
+def set_hardware_component_state(node, controller_manager_name, component_name, lifecyle_state, service_timeout=0.0):
     request = SetHardwareComponentState.Request()
     request.name = component_name
     request.target_state = lifecyle_state
@@ -165,7 +165,7 @@ 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(

controller_manager/controller_manager/spawner.py

@@ -80,8 +80,8 @@ def has_service_names(node, node_name, node_namespace, service_names):
     return all(service in client_names for service in service_names)
 
 
-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)
 
 
@@ -130,6 +130,13 @@ def main(args=None):
         help="Wait until this application is interrupted and unload controller",
         action="store_true",
     )
+    parser.add_argument(
+        "--controller-manager-timeout",
+        help="Time to wait for the controller manager",
+        required=False,
+        default=0,
+        type=float,
+    )
     parser.add_argument(
         "--activate-as-group",
         help="Activates all the parsed controllers list together instead of one by one."
@@ -145,6 +152,7 @@ def main(args=None):
     controller_namespace = args.namespace
     param_file = args.param_file
     controller_type = args.controller_type
+    timeout = args.controller_manager_timeout
 
     if param_file and not os.path.isfile(param_file):
         raise FileNotFoundError(errno.ENOENT, os.strerror(errno.ENOENT), param_file)
@@ -164,7 +172,7 @@ def main(args=None):
             if controller_namespace:
                 prefixed_controller_name = controller_namespace + "/" + controller_name
 
-            if is_controller_loaded(node, controller_manager_name, prefixed_controller_name):
+            if is_controller_loaded(node, controller_manager_name, prefixed_controller_name, timeout):
                 node.get_logger().warn(
                     bcolors.WARNING
                     + "Controller already loaded, skipping load_controller"

controller_manager/doc/userdoc.rst

@@ -146,6 +146,7 @@ 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_name
 
     positional arguments:
@@ -164,6 +165,8 @@ There are two scripts to interact with controller manager from launch files:
       -t CONTROLLER_TYPE, --controller-type CONTROLLER_TYPE
                             If not provided it should exist in the controller manager namespace
       -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
 
 
 ``unspawner``