Revert spawner reordering (backport #547) (#966)

mergify[bot] · web-flow · commit 5df05df97260 · 2025-11-17T23:12:33.000+01:00
diff --git a/example_1/bringup/launch/rrbot.launch.py b/example_1/bringup/launch/rrbot.launch.py
@@ -108,21 +108,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_10/bringup/launch/rrbot.launch.py b/example_10/bringup/launch/rrbot.launch.py
@@ -96,27 +96,20 @@ def generate_launch_description():
         arguments=["gpio_controller", "-c", "/controller_manager"],
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_gpio_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[gpio_controller_spawner],
-        )
-    )
-    delay_joint_state_broadcaster_after_gpio_controller_spawner = RegisterEventHandler(
-        event_handler=OnProcessExit(
-            target_action=gpio_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
-        delay_gpio_after_robot_controller_spawner,
-        delay_joint_state_broadcaster_after_gpio_controller_spawner,
+        joint_state_broadcaster_spawner,
+        gpio_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_11/bringup/launch/carlikebot.launch.py b/example_11/bringup/launch/carlikebot.launch.py
@@ -128,22 +128,21 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_bicycle_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_bicycle_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         control_node_remapped,
         robot_state_pub_bicycle_node,
-        robot_bicycle_controller_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_12/bringup/launch/rrbot.launch.py b/example_12/bringup/launch/rrbot.launch.py
@@ -114,22 +114,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=j1_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[j1_controller_spawner, j2_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        j1_controller_spawner,
-        j2_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py b/example_14/bringup/launch/rrbot_modular_actuators_without_feedback_sensors_for_position_feedback.launch.py
@@ -137,21 +137,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_15/bringup/launch/rrbot_base.launch.py b/example_15/bringup/launch/rrbot_base.launch.py
@@ -223,9 +223,9 @@ def generate_launch_description():
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
         joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
+        robot_controller_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_15/bringup/launch/rrbot_namespace.launch.py b/example_15/bringup/launch/rrbot_namespace.launch.py
@@ -131,9 +131,9 @@ def generate_launch_description():
     nodes = [
         control_node,
         robot_state_pub_node,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
         robot_forward_position_controller_spawner,
-        joint_state_broadcaster_spawner,
         robot_position_trajectory_controller_spawner,
     ]
 
diff --git a/example_2/bringup/launch/diffbot.launch.py b/example_2/bringup/launch/diffbot.launch.py
@@ -115,21 +115,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_3/bringup/launch/rrbot_system_multi_interface.launch.py b/example_3/bringup/launch/rrbot_system_multi_interface.launch.py
@@ -160,21 +160,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_4/bringup/launch/rrbot_system_with_sensor.launch.py b/example_4/bringup/launch/rrbot_system_with_sensor.launch.py
@@ -159,21 +159,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
         fts_broadcaster_spawner,
     ]
 
diff --git a/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py b/example_5/bringup/launch/rrbot_system_with_external_sensor.launch.py
@@ -159,21 +159,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
         fts_broadcaster_spawner,
     ]
 
diff --git a/example_6/bringup/launch/rrbot_modular_actuators.launch.py b/example_6/bringup/launch/rrbot_modular_actuators.launch.py
@@ -160,21 +160,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_7/bringup/launch/r6bot_controller.launch.py b/example_7/bringup/launch/r6bot_controller.launch.py
@@ -105,21 +105,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py b/example_8/bringup/launch/rrbot_transmissions_system_position_only.launch.py
@@ -137,21 +137,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)
diff --git a/example_9/bringup/launch/rrbot.launch.py b/example_9/bringup/launch/rrbot.launch.py
@@ -109,21 +109,20 @@ def generate_launch_description():
         )
     )
 
-    # Delay start of joint_state_broadcaster after `robot_controller`
-    # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.
-    delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(
+    # Delay start of robot_controller after `joint_state_broadcaster`
+    delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(
         event_handler=OnProcessExit(
-            target_action=robot_controller_spawner,
-            on_exit=[joint_state_broadcaster_spawner],
+            target_action=joint_state_broadcaster_spawner,
+            on_exit=[robot_controller_spawner],
         )
     )
 
     nodes = [
         control_node,
         robot_state_pub_node,
-        robot_controller_spawner,
+        joint_state_broadcaster_spawner,
         delay_rviz_after_joint_state_broadcaster_spawner,
-        delay_joint_state_broadcaster_after_robot_controller_spawner,
+        delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,
     ]
 
     return LaunchDescription(declared_arguments + nodes)

Original file line number	Diff line number	Diff line change
`@@ -108,21 +108,20 @@ def generate_launch_description():`
`108`	`108`	`)`
`109`	`109`	`)`
`110`	`110`
`111`		- # Delay start of joint_state_broadcaster after `robot_controller`
`112`		`- # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.`
`113`		`- delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(`
	`111`	+ # Delay start of robot_controller after `joint_state_broadcaster`
	`112`	`+ delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(`
`114`	`113`	`event_handler=OnProcessExit(`
`115`		`- target_action=robot_controller_spawner,`
`116`		`- on_exit=[joint_state_broadcaster_spawner],`
	`114`	`+ target_action=joint_state_broadcaster_spawner,`
	`115`	`+ on_exit=[robot_controller_spawner],`
`117`	`116`	`)`
`118`	`117`	`)`
`119`	`118`
`120`	`119`	`nodes = [`
`121`	`120`	`control_node,`
`122`	`121`	`robot_state_pub_node,`
`123`		`- robot_controller_spawner,`
	`122`	`+ joint_state_broadcaster_spawner,`
`124`	`123`	`delay_rviz_after_joint_state_broadcaster_spawner,`
`125`		`- delay_joint_state_broadcaster_after_robot_controller_spawner,`
	`124`	`+ delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,`
`126`	`125`	`]`
`127`	`126`
`128`	`127`	`return LaunchDescription(declared_arguments + nodes)`
Original file line number	Diff line number	Diff line change
`@@ -128,22 +128,21 @@ def generate_launch_description():`
`128`	`128`	`)`
`129`	`129`	`)`
`130`	`130`
`131`		- # Delay start of joint_state_broadcaster after `robot_controller`
`132`		`- # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.`
`133`		`- delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(`
	`131`	+ # Delay start of robot_controller after `joint_state_broadcaster`
	`132`	`+ delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(`
`134`	`133`	`event_handler=OnProcessExit(`
`135`		`- target_action=robot_bicycle_controller_spawner,`
`136`		`- on_exit=[joint_state_broadcaster_spawner],`
	`134`	`+ target_action=joint_state_broadcaster_spawner,`
	`135`	`+ on_exit=[robot_bicycle_controller_spawner],`
`137`	`136`	`)`
`138`	`137`	`)`
`139`	`138`
`140`	`139`	`nodes = [`
`141`	`140`	`control_node,`
`142`	`141`	`control_node_remapped,`
`143`	`142`	`robot_state_pub_bicycle_node,`
`144`		`- robot_bicycle_controller_spawner,`
`145`		`- delay_joint_state_broadcaster_after_robot_controller_spawner,`
	`143`	`+ joint_state_broadcaster_spawner,`
`146`	`144`	`delay_rviz_after_joint_state_broadcaster_spawner,`
	`145`	`+ delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,`
`147`	`146`	`]`
`148`	`147`
`149`	`148`	`return LaunchDescription(declared_arguments + nodes)`
Original file line number	Diff line number	Diff line change
`@@ -114,22 +114,20 @@ def generate_launch_description():`
`114`	`114`	`)`
`115`	`115`	`)`
`116`	`116`
`117`		- # Delay start of joint_state_broadcaster after `robot_controller`
`118`		`- # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.`
`119`		`- delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(`
	`117`	+ # Delay start of robot_controller after `joint_state_broadcaster`
	`118`	`+ delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(`
`120`	`119`	`event_handler=OnProcessExit(`
`121`		`- target_action=j1_controller_spawner,`
`122`		`- on_exit=[joint_state_broadcaster_spawner],`
	`120`	`+ target_action=joint_state_broadcaster_spawner,`
	`121`	`+ on_exit=[j1_controller_spawner, j2_controller_spawner],`
`123`	`122`	`)`
`124`	`123`	`)`
`125`	`124`
`126`	`125`	`nodes = [`
`127`	`126`	`control_node,`
`128`	`127`	`robot_state_pub_node,`
`129`		`- j1_controller_spawner,`
`130`		`- j2_controller_spawner,`
	`128`	`+ joint_state_broadcaster_spawner,`
`131`	`129`	`delay_rviz_after_joint_state_broadcaster_spawner,`
`132`		`- delay_joint_state_broadcaster_after_robot_controller_spawner,`
	`130`	`+ delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,`
`133`	`131`	`]`
`134`	`132`
`135`	`133`	`return LaunchDescription(declared_arguments + nodes)`
Original file line number	Diff line number	Diff line change
`@@ -137,21 +137,20 @@ def generate_launch_description():`
`137`	`137`	`)`
`138`	`138`	`)`
`139`	`139`
`140`		- # Delay start of joint_state_broadcaster after `robot_controller`
`141`		`- # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.`
`142`		`- delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(`
	`140`	+ # Delay start of robot_controller after `joint_state_broadcaster`
	`141`	`+ delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(`
`143`	`142`	`event_handler=OnProcessExit(`
`144`		`- target_action=robot_controller_spawner,`
`145`		`- on_exit=[joint_state_broadcaster_spawner],`
	`143`	`+ target_action=joint_state_broadcaster_spawner,`
	`144`	`+ on_exit=[robot_controller_spawner],`
`146`	`145`	`)`
`147`	`146`	`)`
`148`	`147`
`149`	`148`	`nodes = [`
`150`	`149`	`control_node,`
`151`	`150`	`robot_state_pub_node,`
`152`		`- robot_controller_spawner,`
	`151`	`+ joint_state_broadcaster_spawner,`
`153`	`152`	`delay_rviz_after_joint_state_broadcaster_spawner,`
`154`		`- delay_joint_state_broadcaster_after_robot_controller_spawner,`
	`153`	`+ delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,`
`155`	`154`	`]`
`156`	`155`
`157`	`156`	`return LaunchDescription(declared_arguments + nodes)`
Original file line number	Diff line number	Diff line change
`@@ -115,21 +115,20 @@ def generate_launch_description():`
`115`	`115`	`)`
`116`	`116`	`)`
`117`	`117`
`118`		- # Delay start of joint_state_broadcaster after `robot_controller`
`119`		`- # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.`
`120`		`- delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(`
	`118`	+ # Delay start of robot_controller after `joint_state_broadcaster`
	`119`	`+ delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(`
`121`	`120`	`event_handler=OnProcessExit(`
`122`		`- target_action=robot_controller_spawner,`
`123`		`- on_exit=[joint_state_broadcaster_spawner],`
	`121`	`+ target_action=joint_state_broadcaster_spawner,`
	`122`	`+ on_exit=[robot_controller_spawner],`
`124`	`123`	`)`
`125`	`124`	`)`
`126`	`125`
`127`	`126`	`nodes = [`
`128`	`127`	`control_node,`
`129`	`128`	`robot_state_pub_node,`
`130`		`- robot_controller_spawner,`
	`129`	`+ joint_state_broadcaster_spawner,`
`131`	`130`	`delay_rviz_after_joint_state_broadcaster_spawner,`
`132`		`- delay_joint_state_broadcaster_after_robot_controller_spawner,`
	`131`	`+ delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,`
`133`	`132`	`]`
`134`	`133`
`135`	`134`	`return LaunchDescription(declared_arguments + nodes)`
Original file line number	Diff line number	Diff line change
`@@ -160,21 +160,20 @@ def generate_launch_description():`
`160`	`160`	`)`
`161`	`161`	`)`
`162`	`162`
`163`		- # Delay start of joint_state_broadcaster after `robot_controller`
`164`		`- # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.`
`165`		`- delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(`
	`163`	+ # Delay start of robot_controller after `joint_state_broadcaster`
	`164`	`+ delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(`
`166`	`165`	`event_handler=OnProcessExit(`
`167`		`- target_action=robot_controller_spawner,`
`168`		`- on_exit=[joint_state_broadcaster_spawner],`
	`166`	`+ target_action=joint_state_broadcaster_spawner,`
	`167`	`+ on_exit=[robot_controller_spawner],`
`169`	`168`	`)`
`170`	`169`	`)`
`171`	`170`
`172`	`171`	`nodes = [`
`173`	`172`	`control_node,`
`174`	`173`	`robot_state_pub_node,`
`175`		`- robot_controller_spawner,`
	`174`	`+ joint_state_broadcaster_spawner,`
`176`	`175`	`delay_rviz_after_joint_state_broadcaster_spawner,`
`177`		`- delay_joint_state_broadcaster_after_robot_controller_spawner,`
	`176`	`+ delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,`
`178`	`177`	`]`
`179`	`178`
`180`	`179`	`return LaunchDescription(declared_arguments + nodes)`
Original file line number	Diff line number	Diff line change
`@@ -159,21 +159,20 @@ def generate_launch_description():`
`159`	`159`	`)`
`160`	`160`	`)`
`161`	`161`
`162`		- # Delay start of joint_state_broadcaster after `robot_controller`
`163`		`- # TODO(anyone): This is a workaround for flaky tests. Remove when fixed.`
`164`		`- delay_joint_state_broadcaster_after_robot_controller_spawner = RegisterEventHandler(`
	`162`	+ # Delay start of robot_controller after `joint_state_broadcaster`
	`163`	`+ delay_robot_controller_spawner_after_joint_state_broadcaster_spawner = RegisterEventHandler(`
`165`	`164`	`event_handler=OnProcessExit(`
`166`		`- target_action=robot_controller_spawner,`
`167`		`- on_exit=[joint_state_broadcaster_spawner],`
	`165`	`+ target_action=joint_state_broadcaster_spawner,`
	`166`	`+ on_exit=[robot_controller_spawner],`
`168`	`167`	`)`
`169`	`168`	`)`
`170`	`169`
`171`	`170`	`nodes = [`
`172`	`171`	`control_node,`
`173`	`172`	`robot_state_pub_node,`
`174`		`- robot_controller_spawner,`
	`173`	`+ joint_state_broadcaster_spawner,`
`175`	`174`	`delay_rviz_after_joint_state_broadcaster_spawner,`
`176`		`- delay_joint_state_broadcaster_after_robot_controller_spawner,`
	`175`	`+ delay_robot_controller_spawner_after_joint_state_broadcaster_spawner,`
`177`	`176`	`fts_broadcaster_spawner,`
`178`	`177`	`]`
`179`	`178`