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Nodelet unloading based on misconfiguration in onInit()

nodelet

asked 2012-10-24 05:02:01 -0600

mjcarroll

6414 ●68 ●78 ●100 http://mjcarroll.io/

updated 2014-01-28 17:14:02 -0600

ngrennan
1 ●1 ●1

I'm currently trying to determine if anyone has come up with a sound way of unloading a nodelet based on error conditions in either the onInit() function, or in normal operation of the node.

Essentially, I would like to sanity check all of the nodelet's parameters in the onInit() function, and then stop operation if the parameters don't fall within the correct bounds.

Obviously, I could probably return before loading all of the publishers and subscribers, but this leaves the nodelet loaded, which I don't feel is a terribly clean solution.

Has anyone else come up with a better mechanism for this?

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answered 2012-10-24 10:15:29 -0600

Chad Rockey

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Looks like the current best solution is still calling the manager's 'unloadNodelet' service. You'll have to use a parameter (or some REALLY clever namespace/nodehandle tricks) to determine what service to call.

Here's a relevant mailing list thread: http://ros-users.122217.n3.nabble.com/nodelet-shutdown-unload-itself-requestShutdown-td3151148.html

Here's the still open ticket: https://code.ros.org/trac/ros-pkg/ticket/4431