From 16c99c9600ee013c5e8fa6131399b63561389eb7 Mon Sep 17 00:00:00 2001
From: Space-Swarm <68254769+Space-Swarm@users.noreply.github.com>
Date: Tue, 30 Apr 2024 13:20:46 +0100
Subject: [PATCH]  Creating Stable Ros Launch & Exit #1058

The way ros is currently launched leads to ros not shutting down properly when a node is shut down.

Adding required = true to all ros nodes mean that they can be cleanly exited when one of the nodes is shut down. This ensures a stable setup to use on a repeated basis for trial runs using the SubT simulator.
---
 subt_ros/launch/competition_init.launch | 16 ++++++++++------
 1 file changed, 10 insertions(+), 6 deletions(-)

diff --git a/subt_ros/launch/competition_init.launch b/subt_ros/launch/competition_init.launch
index 3afadc06..9c92ae90 100644
--- a/subt_ros/launch/competition_init.launch
+++ b/subt_ros/launch/competition_init.launch
@@ -12,24 +12,27 @@
   <param name="/world_name" value="$(arg world_name)"/>
   <rosparam param="/robot_names" subst_value='true'>$(arg robot_names)</rosparam>
 
-  <node pkg="ros_ign_bridge" type="parameter_bridge" name="$(anon ros_ign_bridge)" args="/clock@rosgraph_msgs/Clock[ignition.msgs.Clock">
+  <node pkg="ros_ign_bridge" type="parameter_bridge" name="$(anon ros_ign_bridge)" args="/clock@rosgraph_msgs/Clock" required="true">
   </node>
 
   <node
     pkg="subt_ros"
     type="subt_ros_relay"
-    name="subt_ros_relay"/>
+    name="subt_ros_relay"
+    required="true"/>
 
   <node
     pkg="subt_ros"
     type="bridge_logger"
-    name="bridge_logger"/>
+    name="bridge_logger"
+    required="true"/>
 
 
   <node
     pkg="subt_ros"
     type="rostopic_stats_logger.sh"
-    name="rostopic_stats_logger"/>
+    name="rostopic_stats_logger"
+    required="true"/>
 
   <group if="$(arg enable_ground_truth)">
     <!-- In the case that ground truth is enabled, also relay the /set_pose
@@ -39,9 +42,10 @@
     <node
       pkg="subt_ros"
       type="set_pose_relay"
-      name="set_pose_relay"/>
+      name="set_pose_relay"
+      required="true"/>
   </group>
 
-  <node pkg="tf2_ros" type="static_transform_publisher" name="tf_world_static" args="0 0 0 0 0 0 world $(arg world_name)"/>
+  <node pkg="tf2_ros" type="static_transform_publisher" name="tf_world_static" args="0 0 0 0 0 0 world $(arg world_name)" required="true"/>
 
 </launch>