pr2_controller_manager list-libraries (ros ticket #3616)

[ahendrix]

Create new comand 'list-libraries' in addition to 'reload-libraries'. It should simply list all the libraries it would reload, i.e. it can find.

I had a situation where I was 'piggy-backing' while Vijay was running the robot:

a) rospack plugins --attrib=plugin pr2_controller_interface (in my tree) finds the controller I was editing.
b) pr2_controller_manager reload-libraries reports "reloaded all libraries"
c) the code isn't actually there. It reloaded from Vijay's tree.

I would ultimately love a solution to allow me to reload a library from my tree into a running system started in Vijay's tree. But that seems hard, leading to support for ownership/etc of realtime tasks.

The short-term answer I would just like to see what is being reloaded. In this case, I would have noticed quickly that it's Vijay's code and not mine...

According to Stu, there probably is support in pluginlib to do this, the controller manager just needs a service call to expose it??

trac data:

• Owner: wim
• Reporter: gunter
• Reported at: Mon Jan 18 16:54:17 2010
• URL: https://code.ros.org/trac/wg-ros-pkg/ticket/3616

[ahendrix]

[wim] I had a patch for pluginlib that would add support for this, but this patch didn't make it into the 1.0 release. But we can probably add this for pluginlib 1.1.

Would you like to see a new service, or add this to the list-types service call? We could e.g. for each type point to the library it comes from.

[ahendrix]

[gunter] Nice.

I could go either way on whether to combine with list-types or not. If you want to see what reload-libraries will do before calling, it might be nice to have separate. But it would also be really nice to tie the types to the library (plugin) files for complete clarity?