From 8e9d48d3596e89b50d0e138ff1323b4c5f3f7792 Mon Sep 17 00:00:00 2001 From: Katie Hughes <157421702+khughes-bdai@users.noreply.github.com> Date: Mon, 13 Jan 2025 12:47:31 -0500 Subject: [PATCH] [N/A] revert update_sigterm_sigkill_timeouts (#553) ## Change Overview Reverts the calls to `update_sigterm_sigkill_timeout` introduced in https://github.com/bdaiinstitute/spot_ros2/pull/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 --- spot_driver/launch/point_cloud_xyz.launch.py | 2 -- spot_driver/launch/point_cloud_xyzrgb.launch.py | 2 -- spot_driver/launch/rviz.launch.py | 2 -- spot_driver/launch/spot_driver.launch.py | 3 +-- spot_driver/launch/spot_image_publishers.launch.py | 2 -- spot_ros2_control/launch/spot_ros2_control.launch.py | 3 +-- 6 files changed, 2 insertions(+), 12 deletions(-) diff --git a/spot_driver/launch/point_cloud_xyz.launch.py b/spot_driver/launch/point_cloud_xyz.launch.py index 813ac687b..57f2173e9 100644 --- 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 index 32794ecae..8fbf2f725 100644 --- 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 index 51dda9849..8d2b92a94 100644 --- 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 index 42250bc3f..ef64b92db 100644 --- a/spot_driver/launch/spot_driver.launch.py +++ b/spot_driver/launch/spot_driver.launch.py @@ -9,7 +9,7 @@ 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 @@ -17,7 +17,6 @@ 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 index 6c81eb203..46b822d7f 100644 --- 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 index 923ab2767..0d55148a4 100644 --- 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