Added Timeout to calibrate_hand_finder (#230)

* Added timeout to calibrate_hand_finder launch file. So that when using the close_everything icon it doesn't wait 120 seconds to find a hand.

* Update calibrate_hand_finder.py

* Updated year.

* Added timeout as default

* Switched to const.

* Fixed year in file.

* Fixed linter error.

sr_utilities/launch/calibrate_hand_finder.launch

@@ -1,5 +1,5 @@
 <!--
- Copyright 2022 Shadow Robot Company Ltd.
+ Copyright 2022-2023 Shadow Robot Company Ltd.
  This program is free software: you can redistribute it and/or modify it
  under the terms of the GNU General Public License as published by the Free
  Software Foundation version 2 of the License.
@@ -12,8 +12,10 @@
 -->
 <launch>
     <arg name="node_shutdown" default="false" />
+    <arg name="node_timeout" default="120" />
 
     <node name="calibrate_hand" pkg="sr_utilities" type="calibrate_hand_finder.py" output="screen">
         <param name="node_shutdown" value="$(arg node_shutdown)" />
+        <param name="node_timeout" value="$(arg node_timeout)" />
     </node>
 </launch>

sr_utilities/scripts/sr_utilities/calibrate_hand_finder.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python3
 
-# Copyright 2014, 2020, 2022, 2023 Shadow Robot Company Ltd.
+# Copyright 2014, 2020, 2022-2023 Shadow Robot Company Ltd.
 #
 # This program is free software: you can redistribute it and/or modify it
 # under the terms of the GNU General Public License as published by the Free
@@ -23,15 +23,18 @@
 from std_srvs.srv import Empty
 
 
+CALIBRATE_TIMEOUT = 120.0
+
+
 class CalibrateHand:
     """
     This class resets all the motor boards of the Shadow Hand E present in the system.
     On reset, the motor board firmware causes a jiggle and zeroes the tendon strain gauges.
     Once the hands have been successfully reset, this class publishes True on the topic /calibrated
     """
 
-    def __init__(self):
-        rospy.wait_for_service("controller_manager/load_controller", timeout=120.0)
+    def __init__(self, timeout=CALIBRATE_TIMEOUT):
+        rospy.wait_for_service("controller_manager/load_controller", timeout=timeout)
         self.pub_calibrated = rospy.Publisher('calibrated', Bool, queue_size=1, latch=True)
 
     @staticmethod
@@ -94,16 +97,12 @@ def main():
     rospy.init_node('calibration', anonymous=True)
     # By default should be enabled, except when shutting system down
     ros_node_shutdown = rospy.get_param("~node_shutdown", False)
-
-    calibrate_class = CalibrateHand()
-
+    ros_node_timeout = rospy.get_param("~node_timeout", CALIBRATE_TIMEOUT)
+    calibrate_class = CalibrateHand(ros_node_timeout)
     services = calibrate_class.generate_reset_services_list()
-
     calibrate_class.pub_calibrated.publish(False)
-
     if not calibrate_class.calibrate(services):
         sys.exit(3)
-
     calibrate_class.pub_calibrated.publish(True)
 
     print("Hand calibration complete")