Add the documentation of what takes precedence and some pre-comitting…

… changes
ros-controls · Apr 27, 2024 · 4e69835 · 4e69835
1 parent e088464
commit 4e69835
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Showing 2 changed files with 5 additions and 7 deletions.
diff --git a/controller_manager/controller_manager/spawner.py b/controller_manager/controller_manager/spawner.py
@@ -198,7 +198,8 @@ def main(args=None):
     parser.add_argument(
         "--fallback_controllers",
         help="Fallback controllers list are activated as a fallback strategy when the"
-        " spawned controllers fails",
+        " spawned controllers fails. When the argument is provided, it takes precedence over"
+        " the fallback_controllers list in the param file",
         default=None,
         nargs="+",
     )
@@ -324,9 +325,6 @@ def main(args=None):
                     parameter.name = prefixed_controller_name + ".fallback_controllers"
                     parameter.value = get_parameter_value(string_value=str(fallback_controllers))
 
-                    #parameter.value.type = ParameterType.PARAMETER_STRING_ARRAY
-                    #parameter.value.string_array_value = fallback_controllers
-
                     response = call_set_parameters(
                         node=node, node_name=controller_manager_name, parameters=[parameter]
                     )
@@ -336,7 +334,7 @@ def main(args=None):
                         node.get_logger().info(
                             bcolors.OKCYAN
                             + 'Setting fallback_controllers to ["'
-                            + ','.join(fallback_controllers)
+                            + ",".join(fallback_controllers)
                             + '"] for '
                             + bcolors.BOLD
                             + prefixed_controller_name
@@ -346,7 +344,7 @@ def main(args=None):
                         node.get_logger().fatal(
                             bcolors.FAIL
                             + 'Could not set fallback_controllers to ["'
-                            + ','.join(fallback_controllers)
+                            + ",".join(fallback_controllers)
                             + '"] for '
                             + bcolors.BOLD
                             + prefixed_controller_name

diff --git a/controller_manager/test/test_controller_spawner_with_fallback_controllers.yaml b/controller_manager/test/test_controller_spawner_with_fallback_controllers.yaml
@@ -10,4 +10,4 @@ ctrl_2:
 ctrl_3:
   ros__parameters:
     joint_names: ["joint3"]
-    fallback_controllers: ["ctrl_9"]
+    fallback_controllers: ["ctrl_9"]