Remove deprecated shutdown timeout.

franka_control/launch/franka_control.launch

@@ -14,7 +14,7 @@
 
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_control)/config/default_controllers.yaml" />
-    <node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="franka_state_controller --shutdown-timeout 2"/>
+    <node name="state_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="franka_state_controller"/>
     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" output="screen"/>
     <node name="joint_state_publisher" type="joint_state_publisher" pkg="joint_state_publisher" output="screen">
       <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find franka_description)/robots/panda_arm_hand.urdf.xacro'" />

franka_example_controllers/launch/cartesian_impedance_example_controller.launch

@@ -10,7 +10,7 @@
   </include>
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_impedance_example_controller --shutdown-timeout 2"/>
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_impedance_example_controller"/>
     <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/rviz/franka_description_with_marker.rviz"/>
     <node name="interactive_marker" pkg="franka_example_controllers" type="interactive_marker.py" required="true" output="screen" />
     <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" required="false" />

franka_example_controllers/launch/cartesian_pose_example_controller.launch

@@ -10,7 +10,7 @@
   </include>
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_pose_example_controller --shutdown-timeout 2"/>
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_pose_example_controller"/>
     <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>

franka_example_controllers/launch/cartesian_velocity_example_controller.launch

@@ -10,7 +10,7 @@
   </include>
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_velocity_example_controller --shutdown-timeout 2"/>
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="cartesian_velocity_example_controller"/>
     <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>

franka_example_controllers/launch/force_example_controller.launch

@@ -10,7 +10,7 @@
   </include>
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="force_example_controller --shutdown-timeout 2"/>
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="force_example_controller"/>
     <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_description)/rviz/franka_description.rviz"/>
     <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" required="false" />
   </group>

franka_example_controllers/launch/joint_impedance_example_controller.launch

@@ -10,7 +10,7 @@
   </include>
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_impedance_example_controller --shutdown-timeout 2"/>
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_impedance_example_controller"/>
     <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>

franka_example_controllers/launch/joint_position_example_controller.launch

@@ -10,7 +10,7 @@
   </include>
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_position_example_controller --shutdown-timeout 2"/>
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_position_example_controller"/>
     <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>

franka_example_controllers/launch/joint_velocity_example_controller.launch

@@ -10,7 +10,7 @@
   </include>
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_velocity_example_controller --shutdown-timeout 2"/>
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="joint_velocity_example_controller"/>
     <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>

franka_example_controllers/launch/model_example_controller.launch

@@ -10,7 +10,7 @@
   </include>
   <group ns="$(arg arm_id)">
     <rosparam command="load" file="$(find franka_example_controllers)/config/franka_example_controllers.yaml" />
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="model_example_controller --shutdown-timeout 2"/>
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen"  args="model_example_controller"/>
     <node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find franka_example_controllers)/launch/robot.rviz"/>
   </group>
 </launch>

franka_example_controllers/src/joint_impedance_example_controller.cpp

@@ -199,7 +199,6 @@ void JointImpedanceExampleController::update(const ros::Time& /*time*/,
   for (size_t i = 0; i < 7; ++i) {
     last_tau_d_[i] = tau_d[i] + gravity[i];
   }
-  return;
 }
 
 }  // namespace franka_example_controllers

panda_moveit_config/launch/panda_moveit.launch

@@ -5,7 +5,7 @@
   <arg name="controller" default="position" />
 
   <group ns="$(arg arm_id)">
-    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg controller)_joint_trajectory_controller --shutdown-timeout 2"/>
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="$(arg controller)_joint_trajectory_controller"/>
     <include file="$(find panda_moveit_config)/launch/move_group.launch" />
   </group>
 </launch>