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Refactor Launch Files (and fix #50) #51
jim-v left a comment
This seems reasonable.
One cause of concern is that the user may launch something that conflicts with a running node. Nodes are supposed to shut down when a new node of the same name is started, but in practice there is a race condition where the old nodes releases resources in time for the new node to acquire. The only node affected in this new scheme is raspicam_node. One solution is to have the launch file run a Python script that checks if the node is running and reconfigures with appropriate parameters if it is, or starts it if not.
Another suggestion is that we remove the deprecated files, instead of adding a comment to that effect. This should remove confusion when a user stops one launch to run another, which is actually the same as the first.
Another solution for raspicam_node would be to detect when the camera resource is in use and wait to grab it, but this may not be possible.
I will remove the deprecated files in a future release. The issue is that those 2 launches may be used by the systemd services on the image. Once we have a better way of distributing the service files (and updating them), we should remove teleop and joystick demos.
@rohbotics I ran it on a magni, and it seemed to work.
Running via the
Let me know if there is anything specific I should test.