[N/A] revert update_sigterm_sigkill_timeouts (#553)

## Change Overview Reverts the calls to `update_sigterm_sigkill_timeout` introduced in #537. I have a very strong hunch that this is tanking CI execution time in our internal repo (after this change, we are only able to complete 17% of relevant tests before timing out, which is blocking my PR to bring in the latest changes from this repo). ## Testing Done N/A Signed-off-by: Katie Hughes <[email protected]>
bdaiinstitute · Jan 14, 2025 · 8e9d48d · 8e9d48d
1 parent 3b2bd37
commit 8e9d48d
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Showing 6 changed files with 2 additions and 12 deletions.
diff --git a/spot_driver/launch/point_cloud_xyz.launch.py b/spot_driver/launch/point_cloud_xyz.launch.py
@@ -36,7 +36,6 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from synchros2.launch.actions import update_sigterm_sigkill_timeout
 
 
 def generate_launch_description() -> LaunchDescription:
@@ -74,5 +73,4 @@ def generate_launch_description() -> LaunchDescription:
             ),
         ]
     )
-    update_sigterm_sigkill_timeout(ld)
     return ld
diff --git a/spot_driver/launch/point_cloud_xyzrgb.launch.py b/spot_driver/launch/point_cloud_xyzrgb.launch.py
@@ -36,7 +36,6 @@
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from synchros2.launch.actions import update_sigterm_sigkill_timeout
 
 
 def generate_launch_description() -> LaunchDescription:
@@ -77,5 +76,4 @@ def generate_launch_description() -> LaunchDescription:
             ),
         ]
     )
-    update_sigterm_sigkill_timeout(ld)
     return ld
diff --git a/spot_driver/launch/rviz.launch.py b/spot_driver/launch/rviz.launch.py
@@ -13,7 +13,6 @@
     PathJoinSubstitution,
 )
 from launch_ros.substitutions import FindPackageShare
-from synchros2.launch.actions import update_sigterm_sigkill_timeout
 
 THIS_PACKAGE = "spot_driver"
 
@@ -44,7 +43,6 @@ def create_rviz_config(robot_name: str) -> None:
 
 
 def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None:
-    update_sigterm_sigkill_timeout(ld)
     rviz_config_file = LaunchConfiguration("rviz_config_file").perform(context)
     spot_name = LaunchConfiguration("spot_name").perform(context)
 

diff --git a/spot_driver/launch/spot_driver.launch.py b/spot_driver/launch/spot_driver.launch.py
@@ -9,15 +9,14 @@
 from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution, TextSubstitution
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
-from synchros2.launch.actions import DeclareBooleanLaunchArgument, update_sigterm_sigkill_timeout
+from synchros2.launch.actions import DeclareBooleanLaunchArgument
 
 from spot_driver.launch.spot_launch_helpers import IMAGE_PUBLISHER_ARGS, declare_image_publisher_args, spot_has_arm
 
 THIS_PACKAGE = "spot_driver"
 
 
 def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None:
-    update_sigterm_sigkill_timeout(ld)
     config_file = LaunchConfiguration("config_file")
     launch_rviz = LaunchConfiguration("launch_rviz")
     rviz_config_file = LaunchConfiguration("rviz_config_file").perform(context)

diff --git a/spot_driver/launch/spot_image_publishers.launch.py b/spot_driver/launch/spot_image_publishers.launch.py
@@ -9,7 +9,6 @@
 from launch.actions import DeclareLaunchArgument, OpaqueFunction
 from launch.conditions import IfCondition
 from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
-from synchros2.launch.actions import update_sigterm_sigkill_timeout
 
 from spot_driver.launch.spot_launch_helpers import (
     DepthRegisteredMode,
@@ -92,7 +91,6 @@ def create_point_cloud_nodelets(
 
 
 def launch_setup(context: LaunchContext, ld: LaunchDescription) -> None:
-    update_sigterm_sigkill_timeout(ld)
     config_file = LaunchConfiguration("config_file")
     spot_name = LaunchConfiguration("spot_name").perform(context)
     depth_registered_mode_config = LaunchConfiguration("depth_registered_mode")

diff --git a/spot_ros2_control/launch/spot_ros2_control.launch.py b/spot_ros2_control/launch/spot_ros2_control.launch.py
@@ -16,7 +16,7 @@
 )
 from launch_ros.actions import Node
 from launch_ros.substitutions import FindPackageShare
-from synchros2.launch.actions import DeclareBooleanLaunchArgument, update_sigterm_sigkill_timeout
+from synchros2.launch.actions import DeclareBooleanLaunchArgument
 
 from spot_driver.launch.spot_launch_helpers import (
     IMAGE_PUBLISHER_ARGS,
@@ -301,6 +301,5 @@ def generate_launch_description():
         + declare_image_publisher_args()
     )
     # Add nodes to launch description
-    update_sigterm_sigkill_timeout(ld)
     ld.add_action(OpaqueFunction(function=launch_setup, args=[ld]))
     return ld