Put all callbacks in the same Reentrant Callback Group (#90)

* Put all callbacks into one ReentrantCallbackGroup

* Linting

Author: amalnanavati

ada_feeding/ada_feeding/behaviors/move_to.py

@@ -15,7 +15,6 @@
 import py_trees
 from pymoveit2 import MoveIt2, MoveIt2State
 from pymoveit2.robots import kinova
-from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.node import Node
 from rclpy.qos import QoSPresetProfiles
 from sensor_msgs.msg import JointState
@@ -121,14 +120,12 @@ def __init__(
         # Create MoveIt 2 interface for moving the Jaco arm. This must be done
         # in __init__ and not setup since the MoveIt2 interface must be
         # initialized before the ROS2 node starts spinning.
-        callback_group = ReentrantCallbackGroup()
         self.moveit2 = MoveIt2(
             node=self.node,
             joint_names=kinova.joint_names(),
             base_link_name=kinova.base_link_name(),
             end_effector_name="forkTip",
             group_name=kinova.MOVE_GROUP_ARM,
-            callback_group=callback_group,
         )
 
         # Subscribe to the joint state and track the distance to goal while the

ada_feeding/ada_feeding/behaviors/toggle_collision_object.py

@@ -12,7 +12,6 @@
 import py_trees
 from pymoveit2 import MoveIt2
 from pymoveit2.robots import kinova
-from rclpy.callback_groups import ReentrantCallbackGroup
 from rclpy.node import Node
 
 # Local imports
@@ -56,14 +55,12 @@ def __init__(
         # Create MoveIt 2 interface for moving the Jaco arm. This must be done
         # in __init__ and not setup since the MoveIt2 interface must be
         # initialized before the ROS2 node starts spinning.
-        callback_group = ReentrantCallbackGroup()
         self.moveit2 = MoveIt2(
             node=self.node,
             joint_names=kinova.joint_names(),
             base_link_name=kinova.base_link_name(),
             end_effector_name="forkTip",
             group_name=kinova.MOVE_GROUP_ARM,
-            callback_group=callback_group,
         )
 
     def update(self) -> py_trees.common.Status:

ada_feeding/scripts/ada_watchdog.py

@@ -45,6 +45,8 @@ def __init__(self) -> None:
         """
         super().__init__("ada_watchdog")
 
+        self._default_callback_group = rclpy.callback_groups.ReentrantCallbackGroup()
+
         # Load parameters
         self.__load_parameters()
 

ada_feeding/scripts/create_action_servers.py

@@ -89,6 +89,8 @@ def __init__(self) -> None:
         """
         super().__init__("create_action_servers")
 
+        self._default_callback_group = rclpy.callback_groups.ReentrantCallbackGroup()
+
         # Read the parameters that specify what action servers to create.
         action_server_params = self.read_params()
 

ada_feeding/scripts/dummy_ft_sensor.py

@@ -55,6 +55,8 @@ def __init__(self, rate_hz: float = 100.0) -> None:
         """
         super().__init__("dummy_ft_sensor")
 
+        self._default_callback_group = rclpy.callback_groups.ReentrantCallbackGroup()
+
         # Get the mean and standard deviaion of the distribution
         self.mean = self.declare_parameter(
             "mean",

ada_feeding_perception/ada_feeding_perception/face_detection.py

@@ -52,6 +52,8 @@ def __init__(
         """
         super().__init__("face_detection")
 
+        self._default_callback_group = rclpy.callback_groups.ReentrantCallbackGroup()
+
         # Read the parameters
         # NOTE: These parameters are only read once. Any changes after the node
         # is initialized will not be reflected.

ada_feeding_perception/ada_feeding_perception/segment_from_point.py

@@ -58,6 +58,8 @@ def __init__(self) -> None:
 
         super().__init__("segment_from_point")
 
+        self._default_callback_group = rclpy.callback_groups.ReentrantCallbackGroup()
+
         # Check if cuda is available
         self.device = "cuda" if torch.cuda.is_available() else "cpu"
 

ada_feeding_perception/launch/ada_feeding_perception.launch.py

@@ -11,7 +11,6 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.conditions import IfCondition
-from launch.launch_context import LaunchContext
 from launch.substitutions import LaunchConfiguration, PythonExpression