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Add spawning of remote controller (no local yaml file needed) #2349

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196b930
Add spawning of remote controller (no local yaml file needed)
mamueluth Feb 11, 2025
e5ee815
Merge branch 'master' into pass_yaml_load_controller
bmagyar Jul 28, 2025
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65 changes: 42 additions & 23 deletions controller_manager/controller_manager/controller_manager_services.py
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Original file line number Diff line number Diff line change
Expand Up @@ -444,43 +444,62 @@ def set_controller_parameters(


def set_controller_parameters_from_param_files(
node, controller_manager_name: str, controller_name: str, parameter_files: list, namespace=None
node, controller_manager_name: str, controller_name: str, parameter_files: list, param_file_remote: bool, controller_to_type: dict[str, str], namespace=None
):
spawner_namespace = namespace if namespace else node.get_namespace()
controller_parameter_files = get_params_files_with_controller_parameters(
node, controller_name, spawner_namespace, parameter_files
)
if controller_parameter_files:
set_controller_parameters(

if param_file_remote:
print(f"setting params_file = {parameter_files}")
if not set_controller_parameters(
node,
controller_manager_name,
controller_name,
"params_file",
controller_parameter_files,
)

controller_type = get_parameter_from_param_files(
node, controller_name, spawner_namespace, controller_parameter_files, "type"
)
parameter_files,
):
return False

controller_type = controller_to_type.get(controller_name)
print(f"setting type = {controller_type}")
if controller_type and not set_controller_parameters(
node, controller_manager_name, controller_name, "type", controller_type
):
return False

fallback_controllers = get_parameter_from_param_files(
node,
controller_name,
spawner_namespace,
controller_parameter_files,
"fallback_controllers",
else:
controller_parameter_files = get_params_files_with_controller_parameters(
node, controller_name, spawner_namespace, parameter_files
)
if fallback_controllers:
if not set_controller_parameters(
if controller_parameter_files:
set_controller_parameters(
node,
controller_manager_name,
controller_name,
"fallback_controllers",
fallback_controllers,
"params_file",
controller_parameter_files,
)

controller_type = get_parameter_from_param_files(
node, controller_name, spawner_namespace, controller_parameter_files, "type"
)
if controller_type and not set_controller_parameters(
node, controller_manager_name, controller_name, "type", controller_type
):
return False

fallback_controllers = get_parameter_from_param_files(
node,
controller_name,
spawner_namespace,
controller_parameter_files,
"fallback_controllers",
)
if fallback_controllers:
if not set_controller_parameters(
node,
controller_manager_name,
controller_name,
"fallback_controllers",
fallback_controllers,
):
return False
return True
87 changes: 85 additions & 2 deletions controller_manager/controller_manager/spawner.py
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Original file line number Diff line number Diff line change
Expand Up @@ -72,10 +72,36 @@ def is_controller_loaded(
return any(c.name == controller_name for c in controllers)


def parse_type_from_controllers(controller_names: list[str]) -> dict[str, str]:
controller_to_type = dict()
for name in controller_names:
# We expect controller:some/type
# -> split[0]=controller AND split[1]=some/type
split = name.split(":")
if len(split) != 2 or not split[0] or not split[1]:
raise ValueError(
f"Invalid format '{name}'. Expected format is 'controller_name:some/controller_type' if '--param-file-remote-only' flag is used."
)
controller = split[0]
controller_type = split[1]

if controller in controller_to_type:
raise ValueError(
f"Controller names must be unique. Got multiple occurrences of {controller}"
)
else:
controller_to_type[controller] = controller_type
return controller_to_type


def main(args=None):
rclpy.init(args=args, signal_handler_options=SignalHandlerOptions.NO)
parser = argparse.ArgumentParser()
parser.add_argument("controller_names", help="List of controllers", nargs="+")
parser.add_argument(
"controller_names",
help="List of controllers. In combination with '--param-file-remote-only' flag pass type of controller as 'controller:/controller/type'",
nargs="+",
)
parser.add_argument(
"-c",
"--controller-manager",
Expand All @@ -93,6 +119,20 @@ def main(args=None):
action="append",
required=False,
)
parser.add_argument(
"--param-file-remote-only",
help="Set this to load the param file only remotely. Param file is not needed to be present locally only remotely.",
default=False,
action="store_true",
required=False,
)
parser.add_argument(
"-n",
"--namespace",
help="DEPRECATED Namespace for the controller_manager and the controller(s)",
default=None,
required=False,
)
parser.add_argument(
"--load-only",
help="Only load the controller and leave unconfigured.",
Expand Down Expand Up @@ -155,19 +195,59 @@ def main(args=None):
controller_names = args.controller_names
controller_manager_name = args.controller_manager
param_files = args.param_file
param_file_remote = args.param_file_remote_only
controller_manager_timeout = args.controller_manager_timeout
service_call_timeout = args.service_call_timeout
switch_timeout = args.switch_timeout
strictness = SwitchController.Request.STRICT
unload_controllers_upon_exit = False
node = None

if param_files:
if param_files and not param_file_remote:
for param_file in param_files:
if not os.path.isfile(param_file):
raise FileNotFoundError(errno.ENOENT, os.strerror(errno.ENOENT), param_file)
logger = rclpy.logging.get_logger("ros2_control_controller_spawner_" + controller_names[0])

# If we have remote flag given we want to parse the controller_names from
# controller:controller/type to a dict[controller] = controller/type
# the controller_names are then overwritten with only the controller names
controller_to_type = {}
if param_file_remote:
controller_to_type = parse_type_from_controllers(controller_names)
if not controller_to_type:
raise ValueError(
"Invalid format for controller_name.Expected format is 'controller_name:some/controller_type' if '--param-file-remote-only' flag is used."
)
controller_names = list(controller_to_type.keys())

node = Node("spawner_" + controller_names[0])

if node.get_namespace() != "/" and args.namespace:
raise RuntimeError(
f"Setting namespace through both '--namespace {args.namespace}' arg and the ROS 2 standard way "
f"'--ros-args -r __ns:={node.get_namespace()}' is not allowed!"
)

if args.namespace:
warnings.filterwarnings("always")
warnings.warn(
"The '--namespace' argument is deprecated and will be removed in future releases."
" Use the ROS 2 standard way of setting the node namespacing using --ros-args -r __ns:=<namespace>",
DeprecationWarning,
)

spawner_namespace = args.namespace if args.namespace else node.get_namespace()

if not spawner_namespace.startswith("/"):
spawner_namespace = f"/{spawner_namespace}"

if not controller_manager_name.startswith("/"):
if spawner_namespace and spawner_namespace != "/":
controller_manager_name = f"{spawner_namespace}/{controller_manager_name}"
else:
controller_manager_name = f"/{controller_manager_name}"

try:
spawner_node_name = "spawner_" + controller_names[0]
lock = FileLock("/tmp/ros2-control-controller-spawner.lock")
Expand Down Expand Up @@ -233,12 +313,15 @@ def main(args=None):
[arg for args in controller_ros_args for arg in args.split()],
):
return 1

if param_files:
if not set_controller_parameters_from_param_files(
node,
controller_manager_name,
controller_name,
param_files,
param_file_remote,
controller_to_type,
spawner_namespace,
):
return 1
Expand Down
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