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Spawner check for currently running controllers on shutdown #364

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Spawner check for currently running controllers on shutdown #364

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8989431
check for currently running controllers on shutdown
Oct 18, 2018
471da15
cleaned up
Oct 18, 2018
e54267c
fixed prints
Oct 18, 2018
6bcfd75
check for intersection of running and loaded controllers
Oct 19, 2018
f487d0b
changed list intersection method
megantuttle Oct 19, 2018
ee4cf92
switched service calls to follow convention, reverted interface to or…
megantuttle Oct 19, 2018
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37 changes: 27 additions & 10 deletions controller_manager/scripts/spawner
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Original file line number Diff line number Diff line change
Expand Up @@ -48,23 +48,38 @@ loaded = []
load_controller_service = ""
switch_controller_service = ""
unload_controller_service = ""
list_controllers_service = ""

def shutdown():
global loaded,unload_controller_service,load_controller_service,switch_controller_service
global loaded,unload_controller_service,load_controller_service,switch_controller_service,list_controllers_service

rospy.loginfo("Shutting down spawner. Stopping and unloading controllers...")

try:
# lister
list_controllers = rospy.ServiceProxy(list_controllers_service, ListControllers)

# unloader
unload_controller = rospy.ServiceProxy(unload_controller_service, UnloadController)

# switcher
switch_controller = rospy.ServiceProxy(switch_controller_service, SwitchController)

rospy.loginfo("Stopping all controllers...");
switch_controller([], loaded, SwitchControllerRequest.STRICT)

# get list of running controllers
rospy.loginfo("Getting list of controllers...");
_controller_list = list_controllers()
_running_controllers = []
for c in _controller_list.controller:
if c.state == "running":
_running_controllers.append(c.name)

# determine if the loaded controllers are still running
_running_loaded_controllers = [value for value in _running_controllers if value in loaded]

rospy.loginfo("Stopping controllers...");
switch_controller([], _running_loaded_controllers, SwitchControllerRequest.STRICT)
rospy.loginfo("Unloading all loaded controllers...");
for name in reversed(loaded):
for name in reversed(_running_loaded_controllers):
rospy.logout("Trying to unload %s" % name)
unload_controller(name)
rospy.logout("Succeeded in unloading %s" % name)
Expand All @@ -88,7 +103,7 @@ def parse_args(args=None):
return parser.parse_args(args=args)

def main():
global unload_controller_service,load_controller_service,switch_controller_service
global unload_controller_service,load_controller_service,switch_controller_service,list_controllers_service

args = parse_args(rospy.myargv()[1:])

Expand All @@ -110,6 +125,7 @@ def main():
load_controller_service = robot_namespace+"controller_manager/load_controller"
unload_controller_service = robot_namespace+"controller_manager/unload_controller"
switch_controller_service = robot_namespace+"controller_manager/switch_controller"
list_controllers_service = robot_namespace+"controller_manager/list_controllers"

try:
# loader
Expand All @@ -129,6 +145,10 @@ def main():
rospy.loginfo("Controller Spawner: Waiting for service "+unload_controller_service)
rospy.wait_for_service(unload_controller_service, timeout=timeout)

# lister
rospy.loginfo("Controller Spawner: Waiting for service "+list_controllers_service)
rospy.wait_for_service(list_controllers_service, timeout=timeout)

except rospy.exceptions.ROSException:
rospy.logwarn("Controller Spawner couldn't find the expected controller_manager ROS interface.")
return
Expand Down Expand Up @@ -191,9 +211,6 @@ def main():

rospy.loginfo("Controller Spawner: Loaded controllers: %s" % ', '.join(loaded))

if rospy.is_shutdown():
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whiy did you remove this block?

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It seemed redundant since a shutdown hook is defined, and rospy.spin() simply keeps python from exiting until rospy.core.is_shutdown() is set (see rospy/client.py).

return

# start controllers is requested
if autostart:
resp = switch_controller(loaded, [], 2)
Expand Down