[ForceTorqueSensorBroadcaster] Create ParamListener and get parameters on configure

[Noel215]

Hi,

After the last sync of humble, the ForceTorqueSensorBroadcaster stopped working for me. After looking for the issue, I've found that there is a validation of the parameter frame_id (added here), that is failing always because the parameters have not been loaded into the node yet and then, the parameter is empty at that point.

I have the parameter declared in the yaml file that I'm loading in the node but the error I'm having is the following:

[spawner-9] [INFO] [1689253918.601573973] [spawner_ft_sensor_controller]: Set controller type to "force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster" for ft_sensor_controller
[gzserver-1] [INFO] [1689253918.602927505] [controller_manager]: Loading controller 'ft_sensor_controller'
[gzserver-1] Exception thrown during init stage with message: Invalid value set during initialization for parameter 'frame_id': Parameter 'frame_id' cannot be empty 
[gzserver-1] [ERROR] [1689253918.613905153] [controller_manager]: Could not initialize the controller named 'ft_sensor_controller'
[INFO] [spawn_entity.py-3]: process has finished cleanly [pid 56778]
[spawner-9] [FATAL] [1689253918.815438355] [spawner_ft_sensor_controller]: Failed loading controller ft_sensor_controller
[ERROR] [spawner-9]: process has died [pid 56791, exit code 1, cmd '/home/user/exchange/alum/emergency_button/install/controller_manager/lib/controller_manager/spawner ft_sensor_controller --controller-manager controller_manager --controller-type force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster --param-file /home/user/exchange/alum/emergency_button/install/tiago_controller_configuration/share/tiago_controller_configuration/config/ft_sensor_controller.yaml --ros-args'].

By creating the ParamListener and reading the parameters on configure instead of on init is working for me. I would like to have also a backport for humble.

Thanks! :)

[codecov-commenter]

Codecov Report

Merging #698 (a60ee05) into master (e7f9962) will increase coverage by 0.75%.
Report is 352 commits behind head on master.
The diff coverage is 34.91%.

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@@            Coverage Diff             @@
##           master     #698      +/-   ##
==========================================
+ Coverage   35.78%   36.53%   +0.75%     
==========================================
  Files         189        7     -182     
  Lines       17570      676   -16894     
  Branches    11592      357   -11235     
==========================================
- Hits         6287      247    -6040     
+ Misses        994      134     -860     
+ Partials    10289      295    -9994     

Flag	Coverage Δ
unittests	36.53% <34.91%> (+0.75%)	⬆️

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Files Changed	Coverage Δ
...ontroller/test/test_load_diff_drive_controller.cpp	11.11% <0.00%> (ø)
diff_drive_controller/src/odometry.cpp	42.16% <11.11%> (ø)
diff_drive_controller/src/speed_limiter.cpp	46.55% <11.11%> (ø)
...ive_controller/test/test_diff_drive_controller.cpp	17.62% <12.08%> (ø)
...iff_drive_controller/src/diff_drive_controller.cpp	47.09% <46.88%> (ø)
...de/diff_drive_controller/diff_drive_controller.hpp	100.00% <100.00%> (ø)
...troller/include/diff_drive_controller/odometry.hpp	100.00% <100.00%> (ø)

... and 189 files with indirect coverage changes