From 9eb4e3e54cf8993d83f2ab3f540b93fe26429b53 Mon Sep 17 00:00:00 2001 From: tagciccone Date: Fri, 3 Apr 2026 22:07:09 +0000 Subject: [PATCH] Expand switch timeout for controller spawning --- src/igvc_hardware/launch/control.launch.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/igvc_hardware/launch/control.launch.py b/src/igvc_hardware/launch/control.launch.py index 83a66bed..88091159 100644 --- a/src/igvc_hardware/launch/control.launch.py +++ b/src/igvc_hardware/launch/control.launch.py @@ -47,16 +47,15 @@ def generate_launch_description(): package="controller_manager", executable="spawner", arguments=["bot_drive_controller", - "--controller-manager", "/controller_manager"], + "--controller-manager", "/controller_manager", "--switch-timeout", "20.0"], remappings=[('~/cmd_vel','/cmd_vel')] - ) joint_state_broadcaster_spawner = Node( package="controller_manager", executable="spawner", - arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"], + arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager", "--switch-timeout", "20.0"], )