From b73ff96637f94c2c75b68430e94dc40d700e2026 Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Tue, 27 Sep 2022 19:04:13 -0300
Subject: [PATCH] Add controller manager timeout when spwawning controllers.

---
 wam_bringup/launch/computed_torque_controller.launch.xml       | 4 ++--
 wam_bringup/launch/pid_independent_joint_controller.launch.xml | 4 ++--
 wam_bringup/launch/pid_plus_gravity_controller.launch.xml      | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/wam_bringup/launch/computed_torque_controller.launch.xml b/wam_bringup/launch/computed_torque_controller.launch.xml
index 67dca00..90b1d1c 100644
--- a/wam_bringup/launch/computed_torque_controller.launch.xml
+++ b/wam_bringup/launch/computed_torque_controller.launch.xml
@@ -23,8 +23,8 @@
 	<arg name="config" default="$(find-pkg-share wam_bringup)/config/computed_torque_controller.yaml"/>
 	
 	<node name="computed_torque_controller_spawner" pkg="controller_manager" exec="spawner"
-		args="-t effort_controllers/ComputedTorqueController -p $(var config) computed_torque_controller"/>
+		args="-t effort_controllers/ComputedTorqueController -p $(var config) --controller-manager-timeout 10 computed_torque_controller"/>
 		
 	<node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
-		args="-t joint_state_broadcaster/JointStateBroadcaster joint_state_broadcaster"/>
+		args="-t joint_state_broadcaster/JointStateBroadcaster --controller-manager-timeout 10 joint_state_broadcaster"/>
 </launch>
diff --git a/wam_bringup/launch/pid_independent_joint_controller.launch.xml b/wam_bringup/launch/pid_independent_joint_controller.launch.xml
index 836b651..1cef4ee 100644
--- a/wam_bringup/launch/pid_independent_joint_controller.launch.xml
+++ b/wam_bringup/launch/pid_independent_joint_controller.launch.xml
@@ -23,8 +23,8 @@
 	<arg name="config" default="$(find-pkg-share wam_bringup)/config/pid_independent_joint_controller.yaml"/>
 	
 	<node name="pid_independent_joint_controller_spawner" pkg="controller_manager" exec="spawner"
-		args="-t effort_controllers/JointGroupPositionController -p $(var config) group_controller"/>
+		args="-t effort_controllers/JointGroupPositionController -p $(var config) --controller-manager-timeout 10 group_controller"/>
 		
 	<node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
-		args="-t joint_state_broadcaster/JointStateBroadcaster joint_state_broadcaster"/>
+		args="-t joint_state_broadcaster/JointStateBroadcaster --controller-manager-timeout 10 joint_state_broadcaster"/>
 </launch>
diff --git a/wam_bringup/launch/pid_plus_gravity_controller.launch.xml b/wam_bringup/launch/pid_plus_gravity_controller.launch.xml
index fbcb552..2865d65 100644
--- a/wam_bringup/launch/pid_plus_gravity_controller.launch.xml
+++ b/wam_bringup/launch/pid_plus_gravity_controller.launch.xml
@@ -23,8 +23,8 @@
 	<arg name="config" default="$(find-pkg-share wam_bringup)/config/pid_plus_gravity_controller.yaml"/>
 	
 	<node name="pid_plus_gravity_controller_spawner" pkg="controller_manager" exec="spawner"
-		args="-t effort_controllers/PidPlusGravityController -p $(var config) pid_plus_gravity_controller"/>
+		args="-t effort_controllers/PidPlusGravityController -p $(var config) --controller-manager-timeout 10 pid_plus_gravity_controller"/>
 		
 	<node name="joint_state_broadcaster_spawner" pkg="controller_manager" exec="spawner"
-		args="-t joint_state_broadcaster/JointStateBroadcaster joint_state_broadcaster"/>
+		args="-t joint_state_broadcaster/JointStateBroadcaster --controller-manager-timeout 10 joint_state_broadcaster"/>
 </launch>
-- 
2.12.0