Keep the old behavior as default

Author: christophfroehlich

controller_manager/controller_manager/spawner.py

@@ -152,7 +152,7 @@ def main(args=None):
         "--switch-asap",
         help="Option to switch the controllers in the realtime loop at the earliest possible time or in the non-realtime loop.",
         required=False,
-        default=False,
+        default=True,
         action=argparse.BooleanOptionalAction,
     )
     parser.add_argument(

doc/migration.rst

@@ -90,9 +90,6 @@ controller_manager
         <limit effort="1000.0" lower="0" upper="0.38" velocity="10"/>
       </joint>
 * The support for the ``description`` parameter for loading the URDF was removed (`#1358 <https://github.com/ros-controls/ros2_control/pull/1358>`_). Use ``robot_description`` topic instead, e.g., you can use the `robot_state_publisher <https://index.ros.org/p/robot_state_publisher/#{DISTRO}>`_. For an example, see `this PR <https://github.com/ros-controls/ros2_control_demos/pull/456>`_ where the change was applied to the demo repository.
-* The spawner now supports two new arguments ``--switch-asap`` and ``--no-switch-asap`` to control the behaviour of the spawner when switching controllers to be in realtime loop (or) non-realtime loop.
-  By default, it is set to ``--no-switch-asap`` because when activating multiple controllers at same time might affect the realtime loop performance (`#2452 <https://github.com/ros-controls/ros2_control/pull/2453>`_).
-  If it is needed to switch controllers in realtime loop, then the argument ``--switch-asap`` need to be parsed to the spawner.
 
 hardware_interface
 ******************

doc/release_notes.rst

@@ -96,8 +96,8 @@ controller_manager
 * The default strictness of the ``switch_controllers`` can now we be chosen using ROS 2 parameters. The default behaviour is still left to ``BEST_EFFORT`` (`#2168 <https://github.com/ros-controls/ros2_control/pull/2168>`_).
 * Parameter ``shutdown_on_initial_state_failure`` was added to avoid shutting down on hardware initial state failure  (`#2230 <https://github.com/ros-controls/ros2_control/pull/2230>`_).
 * The controller manager now publishes ``~/statistics/names`` and ``~/statistics/values`` topics to introspect the execution time and periodicity of the different entities running in the realtime loop (`#2449 <https://github.com/ros-controls/ros2_control/pull/2449>`_).
-* The controller manager now supports switching (activating and deactivating) controllers in both realtime and non-realtime modes. This is controlled by the parameter ``activate_asap`` of the ``switch_controllers`` service (`#2452 <https://github.com/ros-controls/ros2_control/pull/2453>`_).
-* The spawner now supports two new arguments ``--switch-asap`` and ``--no-switch-asap`` to control the behaviour of the spawner when switching controllers to be in realtime loop (or) non-realtime loop. By default, it is set to ``--no-switch-asap`` because when activating multiple controllers at same time might affect the realtime loop performance (`#2452 <https://github.com/ros-controls/ros2_control/pull/2453>`_).
+* The controller manager now supports switching (activating and deactivating) controllers in both realtime and non-realtime modes. This is controlled by the parameter ``activate_asap`` of the ``switch_controllers`` service (`#2452 <https://github.com/ros-controls/ros2_control/pull/2452>`_).
+* The spawner now supports two new arguments ``--switch-asap`` and ``--no-switch-asap`` to control the behaviour of the spawner when switching controllers to be in realtime loop (or) non-realtime loop. By default, it is set to ``--switch-asap`` to keep the earlier behavior (`#2610 <https://github.com/ros-controls/ros2_control/pull/2610>`_).
 * New parameters ``overruns.manage`` and ``overruns.print_warnings`` were added to control the behavior of the controller manager/ros2_control_node when overruns occur (`#2546 <https://github.com/ros-controls/ros2_control/pull/2546/files>`_).
 
 hardware_interface