From bc6cfc8357f7478f6dc72d05ee08248797577f3a Mon Sep 17 00:00:00 2001
From: Simon Gabl <simon.gabl@franka.de>
Date: Tue, 23 Jan 2018 13:44:40 +0100
Subject: [PATCH] Remove deprecated shutdown timeout.
---
franka_control/launch/franka_control.launch | 2 +-
.../launch/cartesian_impedance_example_controller.launch | 2 +-
.../launch/cartesian_pose_example_controller.launch | 2 +-
.../launch/cartesian_velocity_example_controller.launch | 2 +-
.../launch/force_example_controller.launch | 2 +-
.../launch/joint_impedance_example_controller.launch | 2 +-
.../launch/joint_position_example_controller.launch | 2 +-
.../launch/joint_velocity_example_controller.launch | 2 +-
.../launch/model_example_controller.launch | 2 +-
.../src/joint_impedance_example_controller.cpp | 1 -
panda_moveit_config/launch/panda_moveit.launch | 2 +-
11 files changed, 10 insertions(+), 11 deletions(-)
diff --git a/franka_control/launch/franka_control.launch b/franka_control/launch/franka_control.launch
index 11098d3..1b2fe02 100644
--- a/franka_control/launch/franka_control.launch
+++ b/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'" />
diff --git a/franka_example_controllers/launch/cartesian_impedance_example_controller.launch b/franka_example_controllers/launch/cartesian_impedance_example_controller.launch
index d4de9d4..a1417a0 100644
--- a/franka_example_controllers/launch/cartesian_impedance_example_controller.launch
+++ b/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 $(find franka_example_controllers)/launch/rviz/franka_description_with_marker.rviz"/>
<node name="interactive_marker" pkg="franka_example_controllers" type="interactive_marker.py" required="true" output="screen" />
<node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" required="false" />
diff --git a/franka_example_controllers/launch/cartesian_pose_example_controller.launch b/franka_example_controllers/launch/cartesian_pose_example_controller.launch
index 3611c66..ddc2184 100644
--- a/franka_example_controllers/launch/cartesian_pose_example_controller.launch
+++ b/franka_example_controllers/launch/cartesian_pose_example_controller.launch
@@ -10,7 +10,7 @@
</include>
<group ns="$(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 $(find franka_example_controllers)/launch/robot.rviz"/>
</group>
</launch>
diff --git a/franka_example_controllers/launch/cartesian_velocity_example_controller.launch b/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
index b7bfc30..e1df8cd 100644
--- a/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
+++ b/franka_example_controllers/launch/cartesian_velocity_example_controller.launch
@@ -10,7 +10,7 @@
</include>
<group ns="$(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 $(find franka_example_controllers)/launch/robot.rviz"/>
</group>
</launch>
diff --git a/franka_example_controllers/launch/force_example_controller.launch b/franka_example_controllers/launch/force_example_controller.launch
index 76f1669..0eee368 100644
--- a/franka_example_controllers/launch/force_example_controller.launch
+++ b/franka_example_controllers/launch/force_example_controller.launch
@@ -10,7 +10,7 @@
</include>
<group ns="$(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 $(find franka_description)/rviz/franka_description.rviz"/>
<node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" required="false" />
</group>
diff --git a/franka_example_controllers/launch/joint_impedance_example_controller.launch b/franka_example_controllers/launch/joint_impedance_example_controller.launch
index e3a488e..3107896 100644
--- a/franka_example_controllers/launch/joint_impedance_example_controller.launch
+++ b/franka_example_controllers/launch/joint_impedance_example_controller.launch
@@ -10,7 +10,7 @@
</include>
<group ns="$(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 $(find franka_example_controllers)/launch/robot.rviz"/>
</group>
</launch>
diff --git a/franka_example_controllers/launch/joint_position_example_controller.launch b/franka_example_controllers/launch/joint_position_example_controller.launch
index 2cab22d..f68b812 100644
--- a/franka_example_controllers/launch/joint_position_example_controller.launch
+++ b/franka_example_controllers/launch/joint_position_example_controller.launch
@@ -10,7 +10,7 @@
</include>
<group ns="$(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 $(find franka_example_controllers)/launch/robot.rviz"/>
</group>
</launch>
diff --git a/franka_example_controllers/launch/joint_velocity_example_controller.launch b/franka_example_controllers/launch/joint_velocity_example_controller.launch
index ed8b84b..ed8925f 100644
--- a/franka_example_controllers/launch/joint_velocity_example_controller.launch
+++ b/franka_example_controllers/launch/joint_velocity_example_controller.launch
@@ -10,7 +10,7 @@
</include>
<group ns="$(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 $(find franka_example_controllers)/launch/robot.rviz"/>
</group>
</launch>
diff --git a/franka_example_controllers/launch/model_example_controller.launch b/franka_example_controllers/launch/model_example_controller.launch
index 1f1b240..e7475bd 100644
--- a/franka_example_controllers/launch/model_example_controller.launch
+++ b/franka_example_controllers/launch/model_example_controller.launch
@@ -10,7 +10,7 @@
</include>
<group ns="$(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 $(find franka_example_controllers)/launch/robot.rviz"/>
</group>
</launch>
diff --git a/franka_example_controllers/src/joint_impedance_example_controller.cpp b/franka_example_controllers/src/joint_impedance_example_controller.cpp
index bf6aad5..991713c 100644
--- a/franka_example_controllers/src/joint_impedance_example_controller.cpp
+++ b/franka_example_controllers/src/joint_impedance_example_controller.cpp
@@ -199,7 +199,6 @@ void JointImpedanceExampleController::update(const ros::Time& /*time*/,
for (size_t i = 0; i < 7; ++i) {
last_tau_d_[i] = tau_d[i] + gravity[i];
}
- return;
}
} // namespace franka_example_controllers
diff --git a/panda_moveit_config/launch/panda_moveit.launch b/panda_moveit_config/launch/panda_moveit.launch
index 4af35f9..a879467 100644
--- a/panda_moveit_config/launch/panda_moveit.launch
+++ b/panda_moveit_config/launch/panda_moveit.launch
@@ -5,7 +5,7 @@
<arg name="controller" default="position" />
<group ns="$(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>
--
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