[SW-1106] using custom launch actions from synchros2 (#537)

Co-authored-by: Katie Hughes <157421702+khughes-bdai@users.noreply.github.com>
bdaiinstitute · Dec 19, 2024 · 5c17fcd · 5c17fcd
1 parent 3c2f3c9
commit 5c17fcd
Show file tree

Hide file tree

Showing 7 changed files with 31 additions and 27 deletions.
diff --git a/spot_driver/launch/point_cloud_xyz.launch.py b/spot_driver/launch/point_cloud_xyz.launch.py
@@ -36,6 +36,7 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from synchros2.launch.actions import update_sigterm_sigkill_timeout
 
 
 def generate_launch_description() -> LaunchDescription:
@@ -73,4 +74,5 @@ def generate_launch_description() -> LaunchDescription:
             ),
         ]
     )
+    update_sigterm_sigkill_timeout(ld)
     return ld
diff --git a/spot_driver/launch/point_cloud_xyzrgb.launch.py b/spot_driver/launch/point_cloud_xyzrgb.launch.py
@@ -36,6 +36,7 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from synchros2.launch.actions import update_sigterm_sigkill_timeout
 
 
 def generate_launch_description() -> LaunchDescription:
@@ -76,4 +77,5 @@ def generate_launch_description() -> LaunchDescription:
             ),
         ]
     )
+    update_sigterm_sigkill_timeout(ld)
     return ld
diff --git a/spot_driver/launch/rviz.launch.py b/spot_driver/launch/rviz.launch.py
@@ -13,6 +13,7 @@
     PathJoinSubstitution,
 )
 from launch_ros.substitutions import FindPackageShare
+from synchros2.launch.actions import update_sigterm_sigkill_timeout
 
 THIS_PACKAGE = "spot_driver"
 
@@ -43,6 +44,7 @@ def create_rviz_config(robot_name: str) -> None:
 
 
 def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None:
+    update_sigterm_sigkill_timeout(ld)
     rviz_config_file = LaunchConfiguration("rviz_config_file").perform(context)
     spot_name = LaunchConfiguration("spot_name").perform(context)
 

diff --git a/spot_driver/launch/spot_driver.launch.py b/spot_driver/launch/spot_driver.launch.py
@@ -9,13 +9,15 @@
 from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution, TextSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
+from synchros2.launch.actions import DeclareBooleanLaunchArgument, update_sigterm_sigkill_timeout
 
 from spot_driver.launch.spot_launch_helpers import IMAGE_PUBLISHER_ARGS, declare_image_publisher_args, spot_has_arm
 
 THIS_PACKAGE = "spot_driver"
 
 
 def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None:
+    update_sigterm_sigkill_timeout(ld)
     config_file = LaunchConfiguration("config_file")
     launch_rviz = LaunchConfiguration("launch_rviz")
     rviz_config_file = LaunchConfiguration("rviz_config_file").perform(context)
@@ -164,10 +166,9 @@ def generate_launch_description() -> LaunchDescription:
         )
     )
     launch_args.append(
-        DeclareLaunchArgument(
+        DeclareBooleanLaunchArgument(
             "launch_rviz",
-            default_value="False",
-            choices=["True", "true", "False", "false"],
+            default_value=False,
             description="Choose whether to launch RViz",
         )
     )
@@ -179,10 +180,9 @@ def generate_launch_description() -> LaunchDescription:
         )
     )
     launch_args.append(
-        DeclareLaunchArgument(
+        DeclareBooleanLaunchArgument(
             "launch_image_publishers",
-            default_value="True",
-            choices=["True", "true", "False", "false"],
+            default_value=True,
             description="Choose whether to launch the image publishing nodes from Spot.",
         )
     )

diff --git a/spot_driver/launch/spot_image_publishers.launch.py b/spot_driver/launch/spot_image_publishers.launch.py
@@ -9,6 +9,7 @@
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
 from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
+from synchros2.launch.actions import update_sigterm_sigkill_timeout
 
 from spot_driver.launch.spot_launch_helpers import (
     DepthRegisteredMode,
@@ -91,6 +92,7 @@ def create_point_cloud_nodelets(
 
 
 def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None:
+    update_sigterm_sigkill_timeout(ld)
     config_file = LaunchConfiguration("config_file")
     spot_name = LaunchConfiguration("spot_name").perform(context)
     depth_registered_mode_config = LaunchConfiguration("depth_registered_mode")

diff --git a/spot_driver/spot_driver/launch/spot_launch_helpers.py b/spot_driver/spot_driver/launch/spot_launch_helpers.py
@@ -7,6 +7,7 @@
 
 import yaml
 from launch.actions import DeclareLaunchArgument
+from synchros2.launch.actions import DeclareBooleanLaunchArgument
 
 from spot_wrapper.wrapper import SpotWrapper
 
@@ -67,37 +68,33 @@ def declare_image_publisher_args() -> List[DeclareLaunchArgument]:
         )
     )
     launch_args.append(
-        DeclareLaunchArgument(
+        DeclareBooleanLaunchArgument(
             "publish_point_clouds",
-            default_value="False",
-            choices=["True", "true", "False", "false"],
+            default_value=False,
             description=(
                 "If true, create and publish point clouds for each depth registered and RGB camera pair. Requires that"
                 " the depth_register_mode launch argument is set to a value that is not `disable`."
             ),
         )
     )
     launch_args.append(
-        DeclareLaunchArgument(
+        DeclareBooleanLaunchArgument(
             "uncompress_images",
-            default_value="True",
-            choices=["True", "true", "False", "false"],
+            default_value=True,
             description="Choose whether to publish uncompressed images from Spot.",
         )
     )
     launch_args.append(
-        DeclareLaunchArgument(
+        DeclareBooleanLaunchArgument(
             "publish_compressed_images",
-            default_value="False",
-            choices=["True", "true", "False", "false"],
+            default_value=False,
             description="Choose whether to publish compressed images from Spot.",
         )
     )
     launch_args.append(
-        DeclareLaunchArgument(
+        DeclareBooleanLaunchArgument(
             "stitch_front_images",
-            default_value="False",
-            choices=["True", "true", "False", "false"],
+            default_value=False,
             description=(
                 "Choose whether to publish a stitched image constructed from Spot's front left and right cameras."
             ),

diff --git a/spot_ros2_control/launch/spot_ros2_control.launch.py b/spot_ros2_control/launch/spot_ros2_control.launch.py
@@ -16,6 +16,7 @@
 )
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
+from synchros2.launch.actions import DeclareBooleanLaunchArgument, update_sigterm_sigkill_timeout
 
 from spot_driver.launch.spot_launch_helpers import (
     IMAGE_PUBLISHER_ARGS,
@@ -276,32 +277,30 @@ def generate_launch_description():
                 default_value="forward_position_controller",
                 description="Robot controller to start. Must match an entry in controllers_config.",
             ),
-            DeclareLaunchArgument(
+            DeclareBooleanLaunchArgument(
                 "mock_arm",
-                default_value="false",
-                choices=["True", "true", "False", "false"],
+                default_value=False,
                 description="If in hardware_interface:=mock mode, whether or not the mocked robot has an arm.",
             ),
-            DeclareLaunchArgument(
+            DeclareBooleanLaunchArgument(
                 "launch_rviz",
-                default_value="true",
-                choices=["True", "true", "False", "false"],
+                default_value=True,
                 description="Flag to enable rviz.",
             ),
             DeclareLaunchArgument(
                 "spot_name",
                 default_value="",
                 description="Name of the Spot that will be used as a namespace.",
             ),
-            DeclareLaunchArgument(
+            DeclareBooleanLaunchArgument(
                 "launch_image_publishers",
-                default_value="true",
-                choices=["True", "true", "False", "false"],
+                default_value=True,
                 description="Choose whether to launch the image publishers.",
             ),
         ]
         + declare_image_publisher_args()
     )
     # Add nodes to launch description
+    update_sigterm_sigkill_timeout(ld)
     ld.add_action(OpaqueFunction(function=launch_setup, args=[ld]))
     return ld