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SkillManagerNode startup needs to turn on and off spinning #98

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matthias-mayr opened this issue Mar 1, 2024 · 0 comments
Open

SkillManagerNode startup needs to turn on and off spinning #98

matthias-mayr opened this issue Mar 1, 2024 · 0 comments
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@marcusklang
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enhancement ROS 2 Issue affects ROS 2

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@matthias-mayr
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Currently the SkillManagerNode that brings up the skill manager needs spinning during the __init__ function to register the skills with the world model:
https://github.com/RVMI/skiros2/blob/ed5bc907f8509f8223bf5c75ff2b7bcf9ff056e7/skiros2_skill/skiros2_skill/ros/skill_manager.py#L187-L188

However after we're done starting up the SkillManagerNode, we enter a rclpy.spin. This means that the WorldModelInterface that is used inside the SkillManager must not spin anymore.
https://github.com/RVMI/skiros2/blob/ed5bc907f8509f8223bf5c75ff2b7bcf9ff056e7/skiros2_skill/skiros2_skill/ros/skill_manager.py#L498-L501

Currently this is resolved by setting an allow_spinning variable in the WorldModelInterface that is used here:
https://github.com/RVMI/skiros2/blob/ed5bc907f8509f8223bf5c75ff2b7bcf9ff056e7/skiros2_world_model/skiros2_world_model/ros/ontology_interface.py#L299-L310

That works, but it's not a very sound solution.
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enhancement ROS 2 Issue affects ROS 2
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