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Initialize the controller manager services after initializing resource manager on humble #1272

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merged 3 commits into from
Jan 12, 2024
Merged

Initialize the controller manager services after initializing resource manager on humble #1272

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ef43b54
Init controller manager srv after resource manager
saikishor Jan 5, 2024
37ca6d8
Init srvs in resource manager if URDF is loaded
saikishor Jan 5, 2024
4133248
Fix controller_manager test
dyackzan Jan 9, 2024
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9 changes: 6 additions & 3 deletions controller_manager/src/controller_manager.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -284,9 +284,8 @@ ControllerManager::ControllerManager(
"[Deprecated] Passing the robot description parameter directly to the control_manager node "
"is deprecated. Use '~/robot_description' topic from 'robot_state_publisher' instead.");
init_resource_manager(robot_description);
init_services();
}

init_services();
}

ControllerManager::ControllerManager(
Expand All @@ -311,7 +310,10 @@ ControllerManager::ControllerManager(
{
subscribe_to_robot_description_topic();
}
init_services();
else
{
init_services();
}
}

void ControllerManager::subscribe_to_robot_description_topic()
Expand Down Expand Up @@ -343,6 +345,7 @@ void ControllerManager::robot_description_callback(const std_msgs::msg::String &
return;
}
init_resource_manager(robot_description.data.c_str());
init_services();
}
catch (std::runtime_error & e)
{
Expand Down
8 changes: 6 additions & 2 deletions controller_manager/test/test_hardware_management_srvs.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -81,7 +81,9 @@ class TestControllerManagerHWManagementSrvs : public TestControllerManagerSrvs
"Unable to initialize resource manager, no robot description found.");
}

cm_->init_resource_manager(robot_description);
auto msg = std_msgs::msg::String();
msg.data = robot_description;
cm_->robot_description_callback(msg);

SetUpSrvsCMExecutor();
}
Expand Down Expand Up @@ -223,7 +225,9 @@ class TestControllerManagerHWManagementSrvsWithoutParams
"Unable to initialize resource manager, no robot description found.");
}

cm_->init_resource_manager(robot_description);
auto msg = std_msgs::msg::String();
msg.data = robot_description;
cm_->robot_description_callback(msg);

SetUpSrvsCMExecutor();
}
Expand Down
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