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fix the order of loading the parameters in the spawner #1145

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fix the order of loading the parameters in the spawner #1145

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63 changes: 32 additions & 31 deletions controller_manager/controller_manager/spawner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -219,6 +219,38 @@ def main(args=None):
)
return 1

# Load parameters before loading the controller
if param_file:
# load_parameter_file writes to stdout/stderr. Here we capture that and use node logging instead
with redirect_stdout(io.StringIO()) as f_stdout, redirect_stderr(
io.StringIO()
) as f_stderr:
load_parameter_file(
node=node,
node_name=prefixed_controller_name,
parameter_file=param_file,
use_wildcard=True,
)
if f_stdout.getvalue():
node.get_logger().info(bcolors.OKCYAN + f_stdout.getvalue() + bcolors.ENDC)
if f_stderr.getvalue():
node.get_logger().error(bcolors.FAIL + f_stderr.getvalue() + bcolors.ENDC)
node.get_logger().info(
bcolors.OKCYAN
+ 'Loaded parameters file "'
+ param_file
+ '" for '
+ bcolors.BOLD
+ prefixed_controller_name
+ bcolors.ENDC
)
# TODO(destogl): use return value when upstream return value is merged
# ret =
# if ret.returncode != 0:
# Error message printed by ros2 param
# return ret.returncode
node.get_logger().info("Loaded " + param_file + " into " + prefixed_controller_name)

if is_controller_loaded(node, controller_manager_name, prefixed_controller_name):
node.get_logger().warn(
bcolors.WARNING
Expand Down Expand Up @@ -272,37 +304,6 @@ def main(args=None):
bcolors.OKBLUE + "Loaded " + bcolors.BOLD + prefixed_controller_name + bcolors.ENDC
)

if param_file:
# load_parameter_file writes to stdout/stderr. Here we capture that and use node logging instead
with redirect_stdout(io.StringIO()) as f_stdout, redirect_stderr(
io.StringIO()
) as f_stderr:
load_parameter_file(
node=node,
node_name=prefixed_controller_name,
parameter_file=param_file,
use_wildcard=True,
)
if f_stdout.getvalue():
node.get_logger().info(bcolors.OKCYAN + f_stdout.getvalue() + bcolors.ENDC)
if f_stderr.getvalue():
node.get_logger().error(bcolors.FAIL + f_stderr.getvalue() + bcolors.ENDC)
node.get_logger().info(
bcolors.OKCYAN
+ 'Loaded parameters file "'
+ param_file
+ '" for '
+ bcolors.BOLD
+ prefixed_controller_name
+ bcolors.ENDC
)
# TODO(destogl): use return value when upstream return value is merged
# ret =
# if ret.returncode != 0:
# Error message printed by ros2 param
# return ret.returncode
node.get_logger().info("Loaded " + param_file + " into " + prefixed_controller_name)

if not args.load_only:
ret = configure_controller(node, controller_manager_name, controller_name)
if not ret.ok:
Expand Down
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