Reactivate tests for example_15

ros-controls / ros2_control_demos

This repository aims at providing examples to illustrate ros2_control and ros2_controllers

https://control.ros.org

Apache License 2.0

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Reactivate tests for example_15 #546

Closed christophfroehlich closed 1 month ago

christophfroehlich commented 3 months ago

Follow-up to #540

Re-evalute after #502 is merged.

christophfroehlich commented 1 month ago

@saikishor it seems that we have a bug or a race condition in the spawner: There is no rrbot_1.spawner_joint_state_broadcaster launched, but two for rrbot_2 with the obvious error 2: [spawner-10] [WARN] [1727282065.051104080] [rrbot_2.spawner_joint_state_broadcaster]: [93mController already loaded, skipping load_controller[0m When I uncomment the rrbot_2_launch here, then the JSB for rrbot_1 is spawned as expected. Any ideas?

saikishor commented 1 month ago

@saikishor it seems that we have a bug or a race condition in the spawner: There is no rrbot_1.spawner_joint_state_broadcaster launched, but two for rrbot_2 with the obvious error 2: [spawner-10] [WARN] [1727282065.051104080] [rrbot_2.spawner_joint_state_broadcaster]: �[93mController already loaded, skipping load_controller�[0m When I uncomment the rrbot_2_launch here, then the JSB for rrbot_1 is spawned as expected. Any ideas?

Ahh I believe I might know. Both the robots use the same controller manager here?

christophfroehlich commented 1 month ago

No, /rrbot_1/controller_manager vs /rrbot_2/controller_manager

christophfroehlich commented 1 month ago

The problem seemed to be the RegisterEventHandler. We don't need it here for the spawners (or in the demos at all?). Binary build fails until next release of ros2_control.