Fix rqt controller manager crash on ros2_control restart (#1273)

* add service_timeout to the other service methods
* catch RuntimeErrors when the service is no longer available

(cherry picked from commit 2d82de8)

# Conflicts:
#	controller_manager/controller_manager/controller_manager_services.py
#	rqt_controller_manager/rqt_controller_manager/controller_manager.py

controller_manager/controller_manager/controller_manager_services.py

@@ -37,55 +37,151 @@ def service_caller(node, service_name, service_type, request, service_timeout=10
         raise RuntimeError(f'Exception while calling service: {future.exception()}')
 
 
-def configure_controller(node, controller_manager_name, controller_name):
+def configure_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
     request = ConfigureController.Request()
     request.name = controller_name
+<<<<<<< HEAD
     return service_caller(node, f'{controller_manager_name}/configure_controller',
                           ConfigureController, request)
-
-
-def list_controllers(node, controller_manager_name):
+=======
+    return service_caller(
+        node,
+        f"{controller_manager_name}/configure_controller",
+        ConfigureController,
+        request,
+        service_timeout,
+    )
+>>>>>>> 2d82de8 (Fix rqt controller manager crash on ros2_control restart (#1273))
+
+
+def list_controllers(node, controller_manager_name, service_timeout=10.0):
     request = ListControllers.Request()
+<<<<<<< HEAD
     return service_caller(node, f'{controller_manager_name}/list_controllers',
                           ListControllers, request)
-
-
-def list_controller_types(node, controller_manager_name):
+=======
+    return service_caller(
+        node,
+        f"{controller_manager_name}/list_controllers",
+        ListControllers,
+        request,
+        service_timeout,
+    )
+>>>>>>> 2d82de8 (Fix rqt controller manager crash on ros2_control restart (#1273))
+
+
+def list_controller_types(node, controller_manager_name, service_timeout=10.0):
     request = ListControllerTypes.Request()
+<<<<<<< HEAD
     return service_caller(node,
                           f'{controller_manager_name}/list_controller_types',
                           ListControllerTypes, request)
-
-
-def list_hardware_components(node, controller_manager_name):
+=======
+    return service_caller(
+        node,
+        f"{controller_manager_name}/list_controller_types",
+        ListControllerTypes,
+        request,
+        service_timeout,
+    )
+>>>>>>> 2d82de8 (Fix rqt controller manager crash on ros2_control restart (#1273))
+
+
+def list_hardware_components(node, controller_manager_name, service_timeout=10.0):
     request = ListHardwareComponents.Request()
+<<<<<<< HEAD
     return service_caller(node, f'{controller_manager_name}/list_hardware_components',
                           ListHardwareComponents, request)
-
-
-def list_hardware_interfaces(node, controller_manager_name):
+=======
+    return service_caller(
+        node,
+        f"{controller_manager_name}/list_hardware_components",
+        ListHardwareComponents,
+        request,
+        service_timeout,
+    )
+>>>>>>> 2d82de8 (Fix rqt controller manager crash on ros2_control restart (#1273))
+
+
+def list_hardware_interfaces(node, controller_manager_name, service_timeout=10.0):
     request = ListHardwareInterfaces.Request()
+<<<<<<< HEAD
     return service_caller(node, f'{controller_manager_name}/list_hardware_interfaces',
                           ListHardwareInterfaces, request)
-
-
-def load_controller(node, controller_manager_name, controller_name):
+=======
+    return service_caller(
+        node,
+        f"{controller_manager_name}/list_hardware_interfaces",
+        ListHardwareInterfaces,
+        request,
+        service_timeout,
+    )
+>>>>>>> 2d82de8 (Fix rqt controller manager crash on ros2_control restart (#1273))
+
+
+def load_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
     request = LoadController.Request()
     request.name = controller_name
+<<<<<<< HEAD
     return service_caller(node, f'{controller_manager_name}/load_controller',
                           LoadController, request)
-
-
-def reload_controller_libraries(node, controller_manager_name, force_kill):
+=======
+    return service_caller(
+        node,
+        f"{controller_manager_name}/load_controller",
+        LoadController,
+        request,
+        service_timeout,
+    )
+>>>>>>> 2d82de8 (Fix rqt controller manager crash on ros2_control restart (#1273))
+
+
+def reload_controller_libraries(node, controller_manager_name, force_kill, service_timeout=10.0):
     request = ReloadControllerLibraries.Request()
     request.force_kill = force_kill
+<<<<<<< HEAD
     return service_caller(node,
                           f'{controller_manager_name}/reload_controller_libraries',
                           ReloadControllerLibraries, request)
 
 
 def switch_controllers(node, controller_manager_name, deactivate_controllers,
                        activate_controllers, strict, activate_asap, timeout):
+=======
+    return service_caller(
+        node,
+        f"{controller_manager_name}/reload_controller_libraries",
+        ReloadControllerLibraries,
+        request,
+        service_timeout,
+    )
+
+
+def set_hardware_component_state(
+    node, controller_manager_name, component_name, lifecyle_state, service_timeout=10.0
+):
+    request = SetHardwareComponentState.Request()
+    request.name = component_name
+    request.target_state = lifecyle_state
+    return service_caller(
+        node,
+        f"{controller_manager_name}/set_hardware_component_state",
+        SetHardwareComponentState,
+        request,
+        service_timeout,
+    )
+
+
+def switch_controllers(
+    node,
+    controller_manager_name,
+    deactivate_controllers,
+    activate_controllers,
+    strict,
+    activate_asap,
+    timeout,
+):
+>>>>>>> 2d82de8 (Fix rqt controller manager crash on ros2_control restart (#1273))
     request = SwitchController.Request()
     request.activate_controllers = activate_controllers
     request.deactivate_controllers = deactivate_controllers
@@ -99,8 +195,18 @@ def switch_controllers(node, controller_manager_name, deactivate_controllers,
                           SwitchController, request)
 
 
-def unload_controller(node, controller_manager_name, controller_name):
+def unload_controller(node, controller_manager_name, controller_name, service_timeout=10.0):
     request = UnloadController.Request()
     request.name = controller_name
+<<<<<<< HEAD
     return service_caller(node, f'{controller_manager_name}/unload_controller',
                           UnloadController, request)
+=======
+    return service_caller(
+        node,
+        f"{controller_manager_name}/unload_controller",
+        UnloadController,
+        request,
+        service_timeout,
+    )
+>>>>>>> 2d82de8 (Fix rqt controller manager crash on ros2_control restart (#1273))

rqt_controller_manager/rqt_controller_manager/controller_manager.py

@@ -168,8 +168,12 @@ def _list_controllers(self):
         @rtype [str]
         """
         # Add loaded controllers first
-        controllers = list_controllers(self._node, self._cm_name).controller
+        try:
+            controllers = list_controllers(
+                self._node, self._cm_name, 2.0 / self._cm_update_freq
+            ).controller
 
+<<<<<<< HEAD
         # Append potential controller configs found in the node's parameters
         for name in _get_parameter_controller_names(self._node, self._cm_name):
             add_ctrl = all(name != ctrl.name for ctrl in controllers)
@@ -179,6 +183,19 @@ def _list_controllers(self):
                                               type=type_str)
                 controllers.append(uninit_ctrl)
         return controllers
+=======
+            # Append potential controller configs found in the node's parameters
+            for name in _get_parameter_controller_names(self._node, self._cm_name):
+                add_ctrl = all(name != ctrl.name for ctrl in controllers)
+                if add_ctrl:
+                    type_str = _get_controller_type(self._node, self._cm_name, name)
+                    uninit_ctrl = ControllerState(name=name, type=type_str)
+                    controllers.append(uninit_ctrl)
+            return controllers
+        except RuntimeError as e:
+            print(e)
+            return []
+>>>>>>> 2d82de8 (Fix rqt controller manager crash on ros2_control restart (#1273))
 
     def _show_controllers(self):
         table_view = self._widget.table_view