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Use a SwitchControllerRequest object instead of python argument mapping #97

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Use a SwitchControllerRequest object instead of python argument mapping #97

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17 changes: 14 additions & 3 deletions ros_ethercat_model/src/ros_ethercat_model/calibrate_class.py
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
# Loads interface with the robot.
import rospy
import controller_manager_msgs.srv as controller_manager_srvs
from controller_manager_msgs.srv import SwitchControllerRequest
from std_msgs.msg import Bool, Empty


Expand Down Expand Up @@ -49,6 +50,7 @@ def calibrate(self, controllers):
controllers = [controllers]

launched = []
req = SwitchControllerRequest()
try:
# Loads the controllers
for c in controllers:
Expand All @@ -61,7 +63,12 @@ def calibrate(self, controllers):
print("Launched: %s" % ', '.join(launched))

# Starts the launched controllers
self.switch_controller(launched, [], controller_manager_srvs.SwitchControllerRequest.BEST_EFFORT, False, 0)
req.start_controllers = launched
req.stop_controllers = []
req.strictness = SwitchControllerRequest.BEST_EFFORT
req.start_asap = False
req.timeout = 0.0
self.switch_controller.call(req)

# Sets up callbacks for calibration completion
waiting_for = launched[:]
Expand All @@ -79,8 +86,12 @@ def calibrated(msg, name): # Somewhat not thread-safe
finally:
for name in launched:
try:
resp_stop = self.switch_controller([], [name],
controller_manager_srvs.SwitchControllerRequest.STRICT, False, 0)
req.start_controllers = []
req.stop_controllers = [name]
req.strictness = SwitchControllerRequest.STRICT
req.start_asap = False
req.timeout = 0.0
resp_stop = self.switch_controller.call(req)
if (resp_stop == 0):
rospy.logerr("Failed to stop controller %s" % name)
resp_unload = self.unload_controller(name)
Expand Down