[SW-1890] changed take_lease_handler to acquire lease if possible, not force take #568
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Signed-off-by: dependabot[bot] <[email protected]> Co-authored-by: dependabot[bot] <49699333+dependabot[bot]@users.noreply.github.com>
tcappellari-bdai
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tcappellari-bdai
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| @@ -226,7 +226,7 @@ def __init__(self, parameter_list: Optional[typing.List[Parameter]] = None, **kw | |||
| self.declare_parameter("auto_power_on", False) | |||
| self.declare_parameter("auto_stand", False) | |||
|
|
|||
| self.declare_parameter("use_take_lease", True) | |||
| self.declare_parameter("use_take_lease", False) | |||
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@tcappellari-bdai meta: if we keep this parameter (e.g. for backwards compatibility), I believe we should at least warn the user of the implications of enabling it.
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Change Overview
spot_driverwill acquire the lease (if available) instead of forcefully taking it. If lease is not available, print an error message. Tablet can still take the lease away but needs to be manually released from the tablet for the driver to acquire it.Related to bdaiinstitute/spot_wrapper#154
Testing Done
Tested on robot with a few simple trigger services
Please create a checklist of tests you plan to do and check off the ones that have been completed successfully. Ensure that ROS 2 tests use
domain_coordinatorto prevent port conflicts. Further guidance for testing can be found on the ros utilities wiki.