Merge pull request NaokiTakahashi12#22 from NaokiTakahashi12/fix/spaw…

…n-ros2-controller-timing Add a delay of 1.0 second for spawning controllers
kenta-kawamata · Dec 20, 2023 · 2a3b31f · 2a3b31f
2 parents d7650c0 + e0966c5
commit 2a3b31f
Showing 1 changed file with 23 additions and 18 deletions.
diff --git a/unitree_go1_description/launch/unitree_go1.launch.py b/unitree_go1_description/launch/unitree_go1.launch.py
@@ -226,24 +226,29 @@ def generate_launch_nodes():
                     launch.substitutions.LaunchConfiguration('use_gz')
                 )
             ),
-            launch_ros.actions.Node(
-                package='controller_manager',
-                executable='spawner',
-                output=output,
-                arguments=[
-                    'joint_state_broadcaster',
-                    '--controller-manager',
-                    'controller_manager'
-                ]
-            ),
-            launch_ros.actions.Node(
-                package='controller_manager',
-                executable='spawner',
-                output=output,
-                arguments=[
-                    'joint_trajectory_controller',
-                    '--controller-manager',
-                    'controller_manager'
+            launch.actions.TimerAction(
+                period=1.0,
+                actions=[
+                    launch_ros.actions.Node(
+                        package='controller_manager',
+                        executable='spawner',
+                        output=output,
+                        arguments=[
+                            'joint_state_broadcaster',
+                            '--controller-manager',
+                            'controller_manager'
+                        ]
+                    ),
+                    launch_ros.actions.Node(
+                        package='controller_manager',
+                        executable='spawner',
+                        output=output,
+                        arguments=[
+                            'joint_trajectory_controller',
+                            '--controller-manager',
+                            'controller_manager'
+                        ]
+                    ),
                 ]
             ),
             launch_ros.actions.Node(