From ea5f7bd209ac4e0192c185367f8825ce3af558e7 Mon Sep 17 00:00:00 2001
From: Felix Exner <exner@fzi.de>
Date: Thu, 3 Oct 2024 14:28:50 +0200
Subject: [PATCH] Revert "another failure trial, the spawner wants to spawn a
 controller named """

This reverts commit f92255929ce124c389e14b6d2bc0e9d46ddcb8f9.
---
 ur_robot_driver/launch/ur_control.launch.py | 31 +++++++++++++++------
 1 file changed, 23 insertions(+), 8 deletions(-)

diff --git a/ur_robot_driver/launch/ur_control.launch.py b/ur_robot_driver/launch/ur_control.launch.py
index 0382b0484..c33344a7c 100644
--- 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,
         ),