Add fix for enabling localization from launch file #382
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bcoltin
approved these changes
Jan 4, 2022
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This is a continuation of #374.
In ROS Melodic, launching a node to start a rosservice enabling localization fails, unless the node which starts in parallel playing the bag is already fully running. The error in that case is: "rospy.exceptions.ROSInitException: time is not initialized. Have you called init_node()?"
As I see it, playing the bag sets up a ROS node which then rosservice can talk to, and until that is done rosservice won't work, even when '--wait' is used with that rosservice. And playing a bag can take quite some time, if the bag is big.
The fix I came up with is to put the call to the rosservice in a shell script, and within that script try this repeatedly till it succeeds. I tested this very thoroughly and it works. There could be more elegant approaches out there, but for now maybe this may do.