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Don't wait for service if it isn't there #43

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Merged
harelb merged 1 commit into from
Apr 7, 2026
Merged

Don't wait for service if it isn't there #43

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1 change: 0 additions & 1 deletion spot_tools/src/spot_executor/spot_executor.py
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Original file line number Diff line number Diff line change
Expand Up @@ -296,7 +296,6 @@ def execute_pick(self, command, feedback):

if success:
# Update object holding state
# TODO: don't hard-code the object to hold
feedback.set_robot_holding_state(True, command.object_id.upper())

feedback.print("INFO", "Finished `pick` command")
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4 changes: 4 additions & 0 deletions spot_tools_ros/src/spot_tools_ros/spot_executor_ros.py
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Expand Up @@ -249,6 +249,10 @@ def set_robot_holding_state(self, is_holding: bool, object_id: str, timeout=5):
req.is_holding = is_holding
req.id = object_id

if not self.holding_client.wait_for_service(timeout_sec=0.5):
self.logger.warning("UpdateHoldingState service not available")
return False

future = self.holding_client.call_async(req)
start = time.time()
while not future.done():
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