Use only one service callback group

Author: urfeex

ur_robot_driver/include/ur_robot_driver/robot_state_helper.hpp

@@ -92,13 +92,7 @@ class RobotStateHelper
   rclcpp::Subscription<ur_dashboard_msgs::msg::RobotMode>::SharedPtr robot_mode_sub_;
   rclcpp::Subscription<ur_dashboard_msgs::msg::SafetyMode>::SharedPtr safety_mode_sub_;
 
-  rclcpp::CallbackGroup::SharedPtr unlock_cb_;
-  rclcpp::CallbackGroup::SharedPtr restart_cb_;
-  rclcpp::CallbackGroup::SharedPtr power_on_cb_;
-  rclcpp::CallbackGroup::SharedPtr power_off_cb_;
-  rclcpp::CallbackGroup::SharedPtr brake_release_cb_;
-  rclcpp::CallbackGroup::SharedPtr stop_program_cb_;
-  rclcpp::CallbackGroup::SharedPtr play_program_cb_;
+  rclcpp::CallbackGroup::SharedPtr service_cb_grp_;
 
   rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr unlock_protective_stop_srv_;
   rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr restart_safety_srv_;

ur_robot_driver/src/robot_state_helper.cpp

@@ -58,42 +58,36 @@ RobotStateHelper::RobotStateHelper(const rclcpp::Node::SharedPtr& node)
       "io_and_status_controller/safety_mode", 1,
       std::bind(&RobotStateHelper::safetyModeCallback, this, std::placeholders::_1));
 
-  unlock_cb_ = node_->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
-  restart_cb_ = unlock_cb_;
-  power_on_cb_ = unlock_cb_;
-  power_off_cb_ = unlock_cb_;
-  brake_release_cb_ = unlock_cb_;
-  stop_program_cb_ = unlock_cb_;
-  play_program_cb_ = unlock_cb_;
+  service_cb_grp_ = node_->create_callback_group(rclcpp::CallbackGroupType::Reentrant);
 
   node->declare_parameter("headless_mode", false);
   headless_mode_ = node->get_parameter("headless_mode").as_bool();
 
   // Service to unlock protective stop
   unlock_protective_stop_srv_ = node_->create_client<std_srvs::srv::Trigger>(
-      "dashboard_client/unlock_protective_stop", rclcpp::QoS(rclcpp::KeepLast(10)), unlock_cb_);
+      "dashboard_client/unlock_protective_stop", rclcpp::QoS(rclcpp::KeepLast(10)), service_cb_grp_);
   // Service to restart safety
-  restart_safety_srv_ = node_->create_client<std_srvs::srv::Trigger>("dashboard_client/restart_safety",
-                                                                     rclcpp::QoS(rclcpp::KeepLast(10)), restart_cb_);
+  restart_safety_srv_ = node_->create_client<std_srvs::srv::Trigger>(
+      "dashboard_client/restart_safety", rclcpp::QoS(rclcpp::KeepLast(10)), service_cb_grp_);
   // Service to power on the robot
   power_on_srv_ = node_->create_client<std_srvs::srv::Trigger>("dashboard_client/power_on",
-                                                               rclcpp::QoS(rclcpp::KeepLast(10)), power_on_cb_);
+                                                               rclcpp::QoS(rclcpp::KeepLast(10)), service_cb_grp_);
   // Service to power off the robot
   power_off_srv_ = node_->create_client<std_srvs::srv::Trigger>("dashboard_client/power_off",
-                                                                rclcpp::QoS(rclcpp::KeepLast(10)), power_off_cb_);
+                                                                rclcpp::QoS(rclcpp::KeepLast(10)), service_cb_grp_);
   // Service to release the robot's brakes
-  brake_release_srv_ = node_->create_client<std_srvs::srv::Trigger>(
-      "dashboard_client/brake_release", rclcpp::QoS(rclcpp::KeepLast(10)), brake_release_cb_);
+  brake_release_srv_ = node_->create_client<std_srvs::srv::Trigger>("dashboard_client/brake_release",
+                                                                    rclcpp::QoS(rclcpp::KeepLast(10)), service_cb_grp_);
   // Service to stop UR program execution on the robot
   stop_program_srv_ = node_->create_client<std_srvs::srv::Trigger>("dashboard_client/stop",
-                                                                   rclcpp::QoS(rclcpp::KeepLast(10)), stop_program_cb_);
+                                                                   rclcpp::QoS(rclcpp::KeepLast(10)), service_cb_grp_);
   // Service to start UR program execution on the robot
   play_program_srv_ = node_->create_client<std_srvs::srv::Trigger>("dashboard_client/play",
-                                                                   rclcpp::QoS(rclcpp::KeepLast(10)), play_program_cb_);
+                                                                   rclcpp::QoS(rclcpp::KeepLast(10)), service_cb_grp_);
   play_program_srv_->wait_for_service();
 
   resend_robot_program_srv_ = node_->create_client<std_srvs::srv::Trigger>(
-      "io_and_status_controller/resend_robot_program", rclcpp::QoS(rclcpp::KeepLast(10)), unlock_cb_);
+      "io_and_status_controller/resend_robot_program", rclcpp::QoS(rclcpp::KeepLast(10)), service_cb_grp_);
   resend_robot_program_srv_->wait_for_service();
 
   feedback_ = std::make_shared<ur_dashboard_msgs::action::SetMode::Feedback>();