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RethinkRobotics / baxter_simulator

Gazebo Simulation interface for the Baxter Research Robot
http://sdk.rethinkrobotics.com/wiki/Baxter_Simulator
BSD 3-Clause "New" or "Revised" License
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Change from spawner to controller_manager to remove unload errors #110

Closed davetcoleman closed 7 years ago

davetcoleman commented 7 years ago

Using the controller_manager/spawner always causes warnings during shutdown:

[WARN] [WallTime: 1421665850.575741] [5.776000] Controller Spawner couldn't reach controller_manager to take down controllers. Waited for 1 second(s).
[base/base_controller_spawner-13] escalating to SIGTERM

The spawner node attempts to manage the whole lifecycle of a controller including stopping and unloading, and is not necessary for Gazebo simulation. The problem is that the controller node is shutdown before the spawner can stop its managed controller.

This PR switches to the simpler controller_manager node.

See https://github.com/ros-controls/ros_control/pull/188#issuecomment-59325551

This PR is sponsored by Vicarious

IanTheEngineer commented 7 years ago

Yep, this looks like the "right" solution. I remember looking into this in the past and not getting particularly far. Good find!

IanTheEngineer commented 7 years ago

It appears that now that I have merged all your previous pull requests, there's now a merge conflict here.