Initialize ROS service servers only after all state they depend on ha…

…s be initialized
WisconsinRobotics · Jun 2, 2021 · 50feb7d · 50feb7d
1 parent 3d96b79
commit 50feb7d
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/src/wready/wready_client.py b/src/wready/wready_client.py
@@ -92,7 +92,6 @@ def __init__(self, server_ns: str, notify_service: Optional[str] = None):
         req_srv_name = f'{server_ns}/request'
         rospy.wait_for_service(req_srv_name)
         self._cli_req = rospy.ServiceProxy(req_srv_name, InitRequest)
-        self._srv_notify = rospy.Service(notify_service or '~wready_notify', InitNotify, self._on_notify_req)
         self._cli_progress = rospy.ServiceProxy(f'{server_ns}/progress', InitProgress, persistent=True)
         self._cli_done = rospy.ServiceProxy(f'{server_ns}/done', Empty)
 
@@ -102,6 +101,8 @@ def __init__(self, server_ns: str, notify_service: Optional[str] = None):
         self._task_callback_cond = Condition(self._task_callback_lock)
 
         self._sig_int_handler = SignalInterruptHandler(self.kill)
+
+        self._srv_notify = rospy.Service(notify_service or '~wready_notify', InitNotify, self._on_notify_req)
 
     def request_sync(self, task_name: str) -> ContextManager[TaskContext]:
         """Requests a task that is completed immediately on the current thread.

diff --git a/src/wready/wready_server.py b/src/wready/wready_server.py
@@ -99,9 +99,6 @@ def __init__(self, server_ns: Optional[str] = None, observer: Optional[WReadySer
             An observer for this WReady server, if any.
         """
         namespace = '~' if server_ns is None else f'{server_ns}/'
-        self._srv_req = rospy.Service(f'{namespace}request', InitRequest, self._on_request_req)
-        self._srv_progress = rospy.Service(f'{namespace}progress', InitProgress, self._on_progress_req)
-        self._srv_done = rospy.Service(f'{namespace}done', Empty, self._on_done_req)
 
         self._last_task_id = -1
         self._req_queue: Deque[InitTask] = deque()
@@ -112,6 +109,10 @@ def __init__(self, server_ns: Optional[str] = None, observer: Optional[WReadySer
 
         self.observer = observer
         self._sig_int_handler = SignalInterruptHandler(self.kill)
+
+        self._srv_req = rospy.Service(f'{namespace}request', InitRequest, self._on_request_req)
+        self._srv_progress = rospy.Service(f'{namespace}progress', InitProgress, self._on_progress_req)
+        self._srv_done = rospy.Service(f'{namespace}done', Empty, self._on_done_req)
 
     def _next_task_id(self) -> int:
         """Produces an unused task slot ID.