From 816bea09b4dcd60fd20ca872d15cf0c59610b76d Mon Sep 17 00:00:00 2001
From: Chris Iverach-Brereton <59611394+civerachb-cpr@users.noreply.github.com>
Date: Thu, 19 Sep 2024 10:35:37 -0400
Subject: [PATCH] Add 30s timeout for controller spawners (#233)

* Add 30s timeout for controller spawners

It looks like the latest ros_controllers release has a default timeout that's too short to allow Gazebo to properly start up, resulting in the diff drive controller & joint state broadcaster to time-out rather than starting up.  Adding an explicit timeout appears to work around this issue.

* copy & paste error
---
 .../launch/include/control.py                    | 16 ++++++++++++++--
 1 file changed, 14 insertions(+), 2 deletions(-)

diff --git a/irobot_create_common/irobot_create_control/launch/include/control.py b/irobot_create_common/irobot_create_control/launch/include/control.py
index 26aa2497..2fea124e 100644
--- a/irobot_create_common/irobot_create_control/launch/include/control.py
+++ b/irobot_create_common/irobot_create_control/launch/include/control.py
@@ -30,14 +30,26 @@ def generate_launch_description():
         executable='spawner',
         namespace=namespace,  # Namespace is not pushed when used in EventHandler
         parameters=[control_params_file],
-        arguments=['diffdrive_controller', '-c', 'controller_manager'],
+        arguments=[
+            'diffdrive_controller',
+            '-c',
+            'controller_manager',
+            '--controller-manager-timeout',
+            '30'
+        ],
         output='screen',
     )
 
     joint_state_broadcaster_spawner = Node(
         package='controller_manager',
         executable='spawner',
-        arguments=['joint_state_broadcaster', '-c', 'controller_manager'],
+        arguments=[
+            'joint_state_broadcaster',
+            '-c',
+            'controller_manager',
+            '--controller-manager-timeout',
+            '30'
+        ],
         output='screen',
     )