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SwitchController.srv
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SwitchController.srv
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# The SwitchController service allows you deactivate a number of controllers
# and activate a number of controllers, all in one single timestep of the
# controller manager's control loop.
# To switch controllers, specify
# * the list of controller names to activate,
# * the list of controller names to deactivate, and
# * the strictness (BEST_EFFORT or STRICT)
# * STRICT means that switching will fail if anything goes wrong (an invalid
# controller name, a controller that failed to activate, etc. )
# * BEST_EFFORT means that even when something goes wrong with on controller,
# the service will still try to activate/stop the remaining controllers
# * activate the controllers as soon as their hardware dependencies are ready, will
# wait for all interfaces to be ready otherwise
# * the timeout before aborting pending controllers. Zero for infinite
# The return value "ok" indicates if the controllers were switched
# successfully or not. The meaning of success depends on the
# specified strictness.
string[] activate_controllers
string[] deactivate_controllers
int32 strictness
int32 BEST_EFFORT=1
int32 STRICT=2
bool activate_asap
builtin_interfaces/Duration timeout
---
bool ok