[dashing] Fix LoadComposableNodes action so that loading happens… (#131)

jacobperron · web-flow · commit 214b60b73be6 · 2020-03-13T15:44:22.000-04:00
Fixes #107. Before, the first call to _load_in_sequence was not asynchronous, unlike it's recursive calls. This change makes the first call asynchronous. Signed-off-by: Jacob Perron <jacob@openrobotics.org>
diff --git a/launch_ros/launch_ros/actions/load_composable_nodes.py b/launch_ros/launch_ros/actions/load_composable_nodes.py
@@ -167,5 +167,9 @@ def execute(
                 self.__target_container.node_name
             )
         )
-        # Assume user has configured `LoadComposableNodes` to happen after container action
-        self._load_in_sequence(self.__composable_node_descriptions, context)
+
+        context.add_completion_future(
+            context.asyncio_loop.run_in_executor(
+                None, self._load_in_sequence, self.__composable_node_descriptions, context
+            )
+        )

Original file line number	Diff line number	Diff line change
`@@ -167,5 +167,9 @@ def execute(`
`167`	`167`	`self.__target_container.node_name`
`168`	`168`	`)`
`169`	`169`	`)`
`170`		- # Assume user has configured `LoadComposableNodes` to happen after container action
`171`		`- self._load_in_sequence(self.__composable_node_descriptions, context)`
	`170`	`+`
	`171`	`+ context.add_completion_future(`
	`172`	`+ context.asyncio_loop.run_in_executor(`
	`173`	`+ None, self._load_in_sequence, self.__composable_node_descriptions, context`
	`174`	`+ )`
	`175`	`+ )`