Fix race condition

Author: nbinford-formant

formant_ros2_adapter/scripts/main.py

@@ -1,18 +1,28 @@
 import rclpy
+import time
 
 from formant.sdk.agent.v1 import Client
 
 from ros2_adapter import ROS2Adapter
+from utils.logger import get_logger
+
+
+FCLIENT_WAIT = 2
 
 
 if __name__ == "__main__":
+    logger = get_logger()
     rclpy.init()
     node = rclpy.create_node(
         "formant_ros2_adapter",
         allow_undeclared_parameters=True,
         automatically_declare_parameters_from_overrides=True,
     )
-    fclient = Client(ignore_throttled=True, ignore_unavailable=True)
+    logger.info("Creating Formant agent client")
+    # To do: a cleaner solution would have ignore_unavailable=True and
+    # something implemented in the client to avoid a race condition
+    fclient = Client(ignore_throttled=True)
+    logger.info("Waiting %s seconds for Formant agent client" % FCLIENT_WAIT)
     ROS2Adapter(fclient, node)
     try:
         while rclpy.ok():