Revert "another failure trial, the spawner wants to spawn a controlle…

…r named """ This reverts commit f922559.
UniversalRobots · Oct 3, 2024 · ea5f7bd · ea5f7bd
1 parent f922559
commit ea5f7bd
Showing 1 changed file with 23 additions and 8 deletions.
diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
@@ -158,7 +158,7 @@ def controller_spawner(controllers, condition, active=True):
                 controller_spawner_timeout,
             ]
             + inactive_flags
-            + controllers,
+            + [controllers],
             condition=condition,
         )
 
@@ -174,11 +174,26 @@ def controller_spawner(controllers, condition, active=True):
         "forward_velocity_controller",
         "forward_position_controller",
     ]
-    controllers_active_init = [*controllers_active_default, initial_joint_controller]
-    controllers_inactive_init = [
-        PythonExpression(["'", c, "' if '", c, "' != '", initial_joint_controller, "' else ''"])
-        for c in controllers_inactive_default
-    ]
+    controllers_active_init = PythonExpression(
+        [
+            "'",
+            " ".join(controllers_active_default),
+            "' + ' ' +'",
+            initial_joint_controller,
+            "'",
+        ]
+    )
+    controllers_inactive_init = PythonExpression(
+        [
+            "' '.join([c for c in ",
+            str(controllers_inactive_default),
+            "if c != '",
+            initial_joint_controller,
+            "'])",
+        ]
+    )
+    print(controllers_active_init.perform(context))
+    print(controllers_inactive_init.perform(context))
 
     controller_spawners = [
         controller_spawner(
@@ -190,11 +205,11 @@ def controller_spawner(controllers, condition, active=True):
             active=False,
         ),
         controller_spawner(
-            controllers_active_default,
+            " ".join(controllers_active_default),
             condition=UnlessCondition(activate_joint_controller),
         ),
         controller_spawner(
-            controllers_inactive_default,
+            " ".join(controllers_inactive_default),
             condition=UnlessCondition(activate_joint_controller),
             active=False,
         ),