Deprecate and rename start and stop nomenclature toward user to activate and deactivate #ABI-breaking

controller_manager/controller_manager/controller_manager_services.py

@@ -78,16 +78,16 @@ def reload_controller_libraries(node, controller_manager_name, force_kill):
  ReloadControllerLibraries, request)
 
 
-def switch_controllers(node, controller_manager_name, stop_controllers,
- start_controllers, strict, start_asap, timeout):
+def switch_controllers(node, controller_manager_name, deactivate_controllers,
+ activate_controllers, strict, activate_asap, timeout):
  request = SwitchController.Request()
- request.start_controllers = start_controllers
- request.stop_controllers = stop_controllers
+ request.activate_controllers = activate_controllers
+ request.deactivate_controllers = deactivate_controllers
  if strict:
  request.strictness = SwitchController.Request.STRICT
  else:
  request.strictness = SwitchController.Request.BEST_EFFORT
- request.start_asap = start_asap
+ request.activate_asap = activate_asap
  request.timeout = rclpy.duration.Duration(seconds=timeout).to_msg()
  return service_caller(node, f'{controller_manager_name}/switch_controller',
  SwitchController, request)

controller_manager/controller_manager/launch_utils.py

@@ -27,7 +27,7 @@ def generate_load_controller_launch_description(controller_name,
 
  Returns a list of LaunchDescription actions adding the 'controller_manager_name' and
  'unload_on_kill' LaunchArguments and a Node action that runs the controller_manager
- spawner node to load and start a controller
+ spawner node to load and activate a controller
 
  Examples # noqa: D416
  --------

controller_manager/controller_manager/spawner.py

@@ -133,7 +133,10 @@ def main(args=None):
  '--load-only', help='Only load the controller and leave unconfigured.',
  action='store_true', required=False)
  parser.add_argument(
- '--stopped', help='Load and configure the controller, however do not start them',
+ '--stopped', help='Load and configure the controller, however do not activate them',
+ action='store_true', required=False)
+ parser.add_argument(
+ '--inactive', help='Load and configure the controller, however do not activate them',
  action='store_true', required=False)
  parser.add_argument(
  '-t', '--controller-type',
@@ -193,7 +196,7 @@ def main(args=None):
  node.get_logger().info('Failed to configure controller')
  return 1
 
- if not args.stopped:
+ if not args.stopped and not args.inactive:
  ret = switch_controllers(
  node,
  controller_manager_name,
@@ -203,11 +206,13 @@ def main(args=None):
  True,
  5.0)
  if not ret.ok:
- node.get_logger().info('Failed to start controller')
+ node.get_logger().info('Failed to activate controller')
  return 1
 
- node.get_logger().info(bcolors.OKGREEN + 'Configured and started ' +
+ node.get_logger().info(bcolors.OKGREEN + 'Configured and activated ' +
  bcolors.OKCYAN + controller_name + bcolors.ENDC)
+ elif args.stopped:
+ node.get_logger.warn('"--stopped" flag is deprecated use "--inactive" instead')
 
  if not args.unload_on_kill:
  return 0
@@ -217,8 +222,8 @@ def main(args=None):
  while True:
  time.sleep(1)
  except KeyboardInterrupt:
- if not args.stopped:
- node.get_logger().info('Interrupt captured, stopping and unloading controller')
+ if not args.stopped and not args.inactive:
+ node.get_logger().info('Interrupt captured, deactivating and unloading controller')
  ret = switch_controllers(
  node,
  controller_manager_name,
@@ -228,10 +233,13 @@ def main(args=None):
  True,
  5.0)
  if not ret.ok:
- node.get_logger().info('Failed to stop controller')
+ node.get_logger().info('Failed to deactivate controller')
  return 1
 
- node.get_logger().info('Stopped controller')
+ node.get_logger().info('Deactivated controller')
+
+ elif args.stopped:
+ node.get_logger.warn('"--stopped" flag is deprecated use "--inactive" instead')
 
  ret = unload_controller(
  node, controller_manager_name, controller_name)

controller_manager/controller_manager/unspawner.py

@@ -50,7 +50,7 @@ def main(args=None):
  True,
  True,
  5.0)
- node.get_logger().info('Stopped controller')
+ node.get_logger().info('Deactivated controller')
 
  ret = unload_controller(node, controller_manager_name, controller_name)
  if not ret.ok:

controller_manager/src/controller_manager.cpp

@@ -654,9 +654,9 @@ controller_interface::return_type ControllerManager::switch_controller(
  {
  RCLCPP_WARN(
  get_logger(),
- "Could not activate controller with name '%s'. (Check above warnings for more details.) "
+ "Could not activate controller with name '%s'. Check above warnings for more details. "
  "Check the state of the controllers and their required interfaces using "
- "`ros2 control list_controllers -v` to get more information.",
+ "`ros2 control list_controllers -v` CLI to get more information.",
  (*ctrl_it).c_str());
  if (strictness == controller_manager_msgs::srv::SwitchController::Request::BEST_EFFORT)
  {
@@ -690,7 +690,7 @@ controller_interface::return_type ControllerManager::switch_controller(
  if (!is_controller_active(controller_it->c))
  {
  RCLCPP_WARN(
- get_logger(), "Controller with name '%s' can not be deactivated since is not active.",
+ get_logger(), "Controller with name '%s' can not be deactivated since it is not active.",
  controller_it->info.name.c_str());
  ret = controller_interface::return_type::ERROR;
  }
@@ -703,9 +703,9 @@ controller_interface::return_type ControllerManager::switch_controller(
  {
  RCLCPP_WARN(
  get_logger(),
- "Could not deactivate controller with name '%s'. (Check above warnings for more details.)"
+ "Could not deactivate controller with name '%s'. Check above warnings for more details. "
  "Check the state of the controllers and their required interfaces using "
- "`ros2 control list_controllers -v` to get more information.",
+ "`ros2 control list_controllers -v` CLI to get more information.",
  (*ctrl_it).c_str());
  if (strictness == controller_manager_msgs::srv::SwitchController::Request::BEST_EFFORT)
  {
@@ -1503,9 +1503,46 @@ void ControllerManager::switch_controller_service_cb(
  std::lock_guard<std::mutex> guard(services_lock_);
  RCLCPP_DEBUG(get_logger(), "switching service locked");
 
+ // response->ok = switch_controller(
+ // request->activate_controllers, request->deactivate_controllers, request->strictness,
+ // request->activate_asap, request->timeout) == controller_interface::return_type::OK;
+ // TODO(destogl): remove this after deprecated fields are removed from service and use the
+ // commented three lines above
+ // BEGIN: remove when deprecated removed
+ auto activate_controllers = request->activate_controllers;
+ auto deactivate_controllers = request->deactivate_controllers;
+
+ if (!request->start_controllers.empty())
+ {
+ RCLCPP_WARN(
+ get_logger(),
+ "'start_controllers' field is deprecated, use 'activate_controllers' field instead!");
+ activate_controllers.insert(
+ activate_controllers.end(), request->start_controllers.begin(),
+ request->start_controllers.end());
+ }
+ if (!request->stop_controllers.empty())
+ {
+ RCLCPP_WARN(
+ get_logger(),
+ "'stop_controllers' field is deprecated, use 'deactivate_controllers' field instead!");
+ deactivate_controllers.insert(
+ deactivate_controllers.end(), request->stop_controllers.begin(),
+ request->stop_controllers.end());
+ }
+
+ auto activate_asap = request->activate_asap;
+ if (request->start_asap)
+ {
+ RCLCPP_WARN(
+ get_logger(), "'start_asap' field is deprecated, use 'activate_asap' field instead!");
+ activate_asap = request->start_asap;
+ }
+
  response->ok = switch_controller(
- request->start_controllers, request->stop_controllers, request->strictness,
- request->start_asap, request->timeout) == controller_interface::return_type::OK;
+ activate_controllers, deactivate_controllers, request->strictness, activate_asap,
+ request->timeout) == controller_interface::return_type::OK;
+ // END: remove when deprecated removed
 
  RCLCPP_DEBUG(get_logger(), "switching service finished");
 }

controller_manager_msgs/srv/SwitchController.srv

@@ -1,16 +1,16 @@
-# The SwitchController service allows you stop a number of controllers
-# and start a number of controllers, all in one single timestep of the
-# controller_manager control loop.
+# The SwitchController service allows you deactivate a number of controllers
+# and activate a number of controllers, all in one single timestep of the
+# controller manager's control loop.
 
 # To switch controllers, specify
-# * the list of controller names to start,
-# * the list of controller names to stop, and
+# * the list of controller names to activate,
+# * the list of controller names to deactivate, and
 # * the strictness (BEST_EFFORT or STRICT)
 # * STRICT means that switching will fail if anything goes wrong (an invalid
-# controller name, a controller that failed to start, etc. )
+# controller name, a controller that failed to activate, etc. )
 # * BEST_EFFORT means that even when something goes wrong with on controller,
-# the service will still try to start/stop the remaining controllers
-# * start the controllers as soon as their hardware dependencies are ready, will
+# the service will still try to activate/stop the remaining controllers
+# * activate the controllers as soon as their hardware dependencies are ready, will
 # wait for all interfaces to be ready otherwise
 # * the timeout before aborting pending controllers. Zero for infinite
 
@@ -19,12 +19,15 @@
 # specified strictness.
 
 
-string[] start_controllers
-string[] stop_controllers
+string[] activate_controllers
+string[] deactivate_controllers
+string[] start_controllers # DEPRECATED: Use activate_controllers filed instead
+string[] stop_controllers # DEPRECATED: Use deactivate_controllers filed instead
 int32 strictness
 int32 BEST_EFFORT=1
 int32 STRICT=2
-bool start_asap
+bool start_asap # DEPRECATED: Use activate_asap filed instead
+bool activate_asap
 builtin_interfaces/Duration timeout
 ---
 bool ok

ros2controlcli/doc/userdoc.rst

@@ -109,7 +109,7 @@ load_controller
 .. code-block:: console
 
  $ ros2 control load_controller -h
- usage: ros2 control load_controller [-h] [--spin-time SPIN_TIME] [--set_state {configure,start}] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] controller_name
+ usage: ros2 control load_controller [-h] [--spin-time SPIN_TIME] [--set_state {configure,activate}] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] controller_name
 
  Load a controller in a controller manager
 
@@ -120,7 +120,7 @@ load_controller
  -h, --help show this help message and exit
  --spin-time SPIN_TIME
  Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
- --set_state {configure,start}
+ --set_state {configured,active}
  Set the state of the loaded controller
  -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER
  Name of the controller manager ROS node
@@ -153,13 +153,13 @@ set_controller_state
 .. code-block:: console
 
  $ ros2 control set_controller_state -h
- usage: ros2 control set_controller_state [-h] [--spin-time SPIN_TIME] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] controller_name {configure,start,stop}
+ usage: ros2 control set_controller_state [-h] [--spin-time SPIN_TIME] [-c CONTROLLER_MANAGER] [--include-hidden-nodes] controller_name {inactive,active}
 
  Adjust the state of the controller
 
  positional arguments:
  controller_name Name of the controller to be changed
- {configure,start,stop}
+ {inactive,active}
  State in which the controller should be changed to
 
  optional arguments:
@@ -177,7 +177,7 @@ switch_controllers
 .. code-block:: console
 
  $ ros2 control switch_controllers -h
- usage: ros2 control switch_controllers [-h] [--spin-time SPIN_TIME] [--stop [STOP [STOP ...]]] [--start [START [START ...]]] [--strict] [--start-asap] [--switch-timeout SWITCH_TIMEOUT] [-c CONTROLLER_MANAGER]
+ usage: ros2 control switch_controllers [-h] [--spin-time SPIN_TIME] [--deactivate [CTRL1 [CTRL2 ...]]] [--activate [CTRL1 [CTRL2 ...]]] [--strict] [--activate-asap] [--switch-timeout SWITCH_TIMEOUT] [-c CONTROLLER_MANAGER]
  [--include-hidden-nodes]
 
  Switch controllers in a controller manager
@@ -186,12 +186,12 @@ switch_controllers
  -h, --help show this help message and exit
  --spin-time SPIN_TIME
  Spin time in seconds to wait for discovery (only applies when not using an already running daemon)
- --stop [STOP [STOP ...]]
- Name of the controllers to be stopped
- --start [START [START ...]]
- Name of the controllers to be started
+ --deactivate [CTRL1 [CTRL2 ...]]
+ Name of the controllers to be deactivate
+ --activate [CTRL1 [CTRL2 ...]]
+ Name of the controllers to be activated
  --strict Strict switch
- --start-asap  Start asap controllers
+ --activate-asap Activate asap controllers
  --switch-timeout SWITCH_TIMEOUT
  Timeout for switching controllers
  -c CONTROLLER_MANAGER, --controller-manager CONTROLLER_MANAGER

ros2controlcli/ros2controlcli/verb/load_controller.py

@@ -30,7 +30,7 @@ def add_arguments(self, parser, cli_name):
  arg.completer = ControllerNameCompleter()
  arg = parser.add_argument(
  '--set-state',
- choices=['configure', 'start'],
+ choices=['configured', 'active'],
  help='Set the state of the loaded controller',
  )
  add_controller_mgr_parsers(parser)
@@ -50,12 +50,17 @@ def main(self, *, args):
  if not response.ok:
  return 'Error configuring controller'
 
+ # TODO(destogl): remove in humble+
  if args.set_state == 'start':
+ print('Setting state "start" is deprecated "activate" instead!')
+ args.set_state == 'activate'
+
+ if args.set_state == 'active':
  response = switch_controllers(
  node, args.controller_manager, [], [args.controller_name], True, True, 5.0
  )
  if not response.ok:
- return 'Error starting controller, check controller_manager logs'
+ return 'Error activating controller, check controller_manager logs'
 
  print(f'Sucessfully loaded controller {args.controller_name} into '
  f'state { "inactive" if args.set_state == "configure" else "active" }')