From 70e445f76b3802d7ec7b235be2fb3f0c1f7821db Mon Sep 17 00:00:00 2001
From: Rodrigo Queiro <rodrigoq@google.com>
Date: Wed, 14 Feb 2018 14:21:59 +0100
Subject: [PATCH] Wait for master before getting /use_sim_time
This stops RosRun from hanging if started before the rosmaster. The new
behaviour is the same as that of rospy: wait for the `rosout` publisher
to be registered before continuing to start the node.
---
.../org/ros/internal/node/DefaultNode.java | 25 ++++++++++++++-----
1 file changed, 19 insertions(+), 6 deletions(-)
diff --git a/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java b/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
index e5a4b7c0..9f1a1bdc 100644
--- a/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
+++ b/rosjava/src/main/java/org/ros/internal/node/DefaultNode.java
@@ -180,17 +180,26 @@ public class DefaultNode implements ConnectedNode {
// possible during startup.
registrar.start(slaveServer.toNodeIdentifier());
- // During startup, we wait for 1) the RosoutLogger and 2) the TimeProvider.
- final CountDownLatch latch = new CountDownLatch(2);
+ // Wait for the logger to register with the master. This ensures the master is running before
+ // requesting the use_sim_time parameter.
+ final CountDownLatch rosoutLatch = new CountDownLatch(1);
log = new RosoutLogger(this);
log.getPublisher().addListener(new DefaultPublisherListener<rosgraph_msgs.Log>() {
@Override
public void onMasterRegistrationSuccess(Publisher<rosgraph_msgs.Log> registrant) {
- latch.countDown();
+ rosoutLatch.countDown();
}
});
+ try {
+ rosoutLatch.await();
+ } catch (InterruptedException e) {
+ signalOnError(e);
+ shutdown();
+ return;
+ }
+
boolean useSimTime = false;
try {
useSimTime =
@@ -198,24 +207,28 @@ public class DefaultNode implements ConnectedNode {
&& parameterTree.getBoolean(Parameters.USE_SIM_TIME);
} catch (Exception e) {
signalOnError(e);
+ shutdown();
+ return;
}
+
+ final CountDownLatch timeLatch = new CountDownLatch(1);
if (useSimTime) {
ClockTopicTimeProvider clockTopicTimeProvider = new ClockTopicTimeProvider(this);
clockTopicTimeProvider.getSubscriber().addSubscriberListener(
new DefaultSubscriberListener<rosgraph_msgs.Clock>() {
@Override
public void onMasterRegistrationSuccess(Subscriber<rosgraph_msgs.Clock> subscriber) {
- latch.countDown();
+ timeLatch.countDown();
}
});
timeProvider = clockTopicTimeProvider;
} else {
timeProvider = nodeConfiguration.getTimeProvider();
- latch.countDown();
+ timeLatch.countDown();
}
try {
- latch.await();
+ timeLatch.await();
} catch (InterruptedException e) {
signalOnError(e);
shutdown();
--
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