Add --switch-asap option to spawner

Author: saikishor

controller_manager/controller_manager/spawner.py

@@ -141,6 +141,13 @@ def main(args=None):
         action="store_true",
         required=False,
     )
+    parser.add_argument(
+        "--switch-asap",
+        help="Option to switch the controllers in the realtime loop at the earliest possible time or in the non-realtime loop.",
+        required=False,
+        default=False,
+        action=argparse.BooleanOptionalAction,
+    )
     parser.add_argument(
         "--controller-ros-args",
         help="The --ros-args to be passed to the controller node, e.g., for remapping topics. "
@@ -160,6 +167,7 @@ def main(args=None):
     switch_timeout = args.switch_timeout
     strictness = SwitchController.Request.STRICT
     unload_controllers_upon_exit = False
+    switch_asap = args.switch_asap
     node = None
 
     if param_files:
@@ -282,7 +290,7 @@ def main(args=None):
                         [],
                         [controller_name],
                         strictness,
-                        True,
+                        switch_asap,
                         switch_timeout,
                         service_call_timeout,
                     )
@@ -307,7 +315,7 @@ def main(args=None):
                 [],
                 controller_names,
                 strictness,
-                True,
+                switch_asap,
                 switch_timeout,
                 service_call_timeout,
             )
@@ -341,7 +349,7 @@ def main(args=None):
                     controller_names,
                     [],
                     strictness,
-                    True,
+                    switch_asap,
                     switch_timeout,
                     service_call_timeout,
                 )

controller_manager/doc/userdoc.rst

@@ -163,9 +163,9 @@ There are two scripts to interact with controller manager from launch files:
 .. code-block:: console
 
     $ ros2 run controller_manager spawner -h
-    usage: spawner [-h] [-c CONTROLLER_MANAGER] [-p PARAM_FILE] [--load-only] [--inactive] [-u] [--controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT] [--switch-timeout SWITCH_TIMEOUT] [--service-call-timeout SERVICE_CALL_TIMEOUT] [--activate-as-group]
-                  [--controller-ros-args CONTROLLER_ROS_ARGS]
-                  controller_names [controller_names ...]
+    usage: spawner [-h] [-c CONTROLLER_MANAGER] [-p PARAM_FILE] [--load-only] [--inactive] [-u] [--controller-manager-timeout CONTROLLER_MANAGER_TIMEOUT] [--switch-timeout SWITCH_TIMEOUT]
+               [--service-call-timeout SERVICE_CALL_TIMEOUT] [--activate-as-group] [--switch-asap | --no-switch-asap] [--controller-ros-args CONTROLLER_ROS_ARGS]
+               controller_names [controller_names ...]
 
     positional arguments:
       controller_names      List of controllers
@@ -186,6 +186,8 @@ There are two scripts to interact with controller manager from launch files:
       --service-call-timeout SERVICE_CALL_TIMEOUT
                             Time to wait for the service response from the controller manager
       --activate-as-group   Activates all the parsed controllers list together instead of one by one. Useful for activating all chainable controllers altogether
+      --switch-asap, --no-switch-asap
+                            Option to switch the controllers in the realtime loop at the earliest possible time or in the non-realtime loop.
       --controller-ros-args CONTROLLER_ROS_ARGS
                             The --ros-args to be passed to the controller node, e.g., for remapping topics. Pass multiple times for every argument.