Change all read_only parameters to false to avoid issues when using s… #973
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…pawners with parameter file
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Codecov ReportAll modified and coverable lines are covered by tests ✅
Additional details and impacted files@@ Coverage Diff @@
## master #973 +/- ##
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+ Coverage 47.22% 47.24% +0.02%
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Files 41 41
Lines 3871 3871
Branches 1827 1827
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christophfroehlich
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Jan 11, 2024
christophfroehlich
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closing, because it seems that we can fix this upstream. see ros-controls/ros2_control#1293 and #978 |
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Related to the issue reported: #966
We need to change all the read_only to false for the moment to avoid issues when using spawners with parameter file. The read-only parameters cannot be loaded as they are expected to exist at the startup of the LifeCycle node. Spawners tend to load the passed parameter files before configuring the controllers.
The above deduction is made from the following references:
http://design.ros2.org/articles/qos_configurability.html#read-only-parameters
https://docs.ros.org/en/galactic/Tutorials/Beginner-CLI-Tools/Understanding-ROS2-Parameters/Understanding-ROS2-Parameters.html#ros2-param-load
@christophfroehlich @bmagyar It would be great to get your insight on this