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jsk-ros-pkg / jsk_robot

jsk-ros-pkg/jsk_robot
https://github.com/jsk-ros-pkg/jsk_robot
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[jsk_pr2_startup] Change launch_virtual_force arg to avoid dupulicated node error #1795

Closed nakane11 closed 1 year ago

nakane11 commented 1 year ago

Currently both pr2.launch and pr2_bringup.launch run virtual_force_publisher and the nodes are killed for new node registered with same name error. This PR makes pr2.launch stop launching the nodes.

k-okada commented 1 year ago

What was the reason for needing the commit at https://github.com/jsk-ros-pkg/jsk_robot/commit/ffc10275694e046a1b01e1e3030da56dc47d6043 (or https://github.com/jsk-ros-pkg/jsk_robot/pull/1251/files) in the first place? Is there any issue if we revert it?" @Kanazawanaoaki

Kanazawanaoaki commented 1 year ago

I'm sorry. I just remembered.

The reason I created https://github.com/jsk-ros-pkg/jsk_robot/pull/1251 first was because I wanted virtual_force_publisher to be up and running by default in pr2.

The reason for this nodes killed problem is that the same node was added to different files in the two PRs https://github.com/jsk-ros-pkg/jsk_robot/pull/1251 (in pr2_bringup.launch launch by robot ) and https://github.com/jsk-ros-pkg/jsk_robot/pull/1314 (in pr2.launch launch by jsk-pr2-startup ), and we created https://github.com/jsk-ros-pkg/jsk_robot/pull/1314 without considering the possibility that https://github.com/jsk-ros-pkg/jsk_robot/pull/1251 would be merged and left it as it was.

(It seems that only https://github.com/jsk-ros-pkg/jsk_robot/pull/1314 had been included in the develop/pr2 branch, but both were included at the time of the noetic transition, etc., causing the problem.)

Kanazawanaoaki commented 1 year ago

I don't remember why it was added to pr2.launch, in the PR of the newly created one, but I think it was said that virtual_force_publisher sometimes died, so it is better to use jsk-pr2-startup, which is easier to start up.

@nakane11 Therefore, if there is no particular reason, it may be better to delete virtual_force_publisher in pr2_bringup.launch and leave pr2.launch.

nakane11 commented 1 year ago

@Kanazawanaoaki Thank you for reviewing. I deleted virtual_force_publisher in pr2_bringup.launch and rebased the commits.

Kanazawanaoaki commented 1 year ago

Thank you very much. I think it will be OK this time.