Reorder waiting for services and ros time to speed up controller start

ros-controls / ros_control

Generic and simple controls framework for ROS

http://wiki.ros.org/ros_control

BSD 3-Clause "New" or "Revised" License

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Reorder waiting for services and ros time to speed up controller start #508

Closed Martin-Oehler closed 1 year ago

Martin-Oehler commented 1 year ago

Hello everyone, this PR addresses issue https://github.com/ros-controls/ros_control/issues/507. I reordered the code structure so waiting_for_service happens first and only if that times out, check for running sim time happens.

Maybe @guillaumeautran could also check, if this works for them?

Best regards, Martin

Martin-Oehler commented 1 year ago

Could you review this please? It should fix the problems in both use cases.

ravikola02 commented 1 year ago

Thank you for figuring this out. Can we do this for melodic as well? @bmagyar @Martin-Oehler