fix(sensor_calibration_manager): fixed sensor calibration manager related issues

knzo25 commented 2 months ago

Description

Upon the release of the new api, two problems were encountered:

When closing the sensor calibration tools or sending sigint/sigkill to the terminal, sometimes zombie processes remained
When the sensor calibration manager started and there were no tfs available, the state machine got stuck and never became able to calibrate
Related links

Tickets:

Tests performed

After the Launcher configuration widget, the sensor calibration manager executes the respective launchers. In this condition, even if we close the sensor calibration manager via widget or console, no zombies remain

(can be checked with ps -aux | grep ros) or similar

Previously, if we ran the sensor calibration manager until after the launchers were executed with no autoware nor rosbag (which publishes the /tf_static), even if we started autoware or the rosbag afterwards, the calibration tool never became able to calibrate due to the design of the internal state machine. With this PR, is should be fixed

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knzo25 commented 2 months ago

@vividf Did you confirm that the changes fixes the issues on your environment? (the two issues this PR addresses)

vividf commented 2 months ago

@knzo25 Yes, the button will be enabled even /tf comes later, also all of the processes are killed.

knzo25 commented 2 months ago

@vividf Thanks for the check !

tier4 / CalibrationTools