Make sure interpreter is started before advertizing run_command service.

  Launching an application in a roslaunch file may cause to send python
  command before the interpreter has read the prologue. This commit should fix
  this issue.

include/dynamic_graph_bridge/ros_interpreter.hh

@@ -28,7 +28,10 @@ namespace dynamicgraph
     /// \param Command string to execute, result, stdout, stderr strings.
     void runCommand(const std::string & command, std::string &result,
 		    std::string &out, std::string &err);
-    
+
+    /// Initialize service run_command
+    void startRosService ();
+
   protected:
     /// \brief Run a Python command and return result, stderr and stdout.
     bool runCommandCallback (dynamic_graph_bridge::RunCommand::Request& req,

src/ros_import.cpp

@@ -133,8 +133,14 @@ namespace dynamicgraph
 		sotNOSIGNAL,
 		MAKE_SIGNAL_STRING(name, true, "int", "trigger")),
       rate_ (ROS_JOINT_STATE_PUBLISHER_RATE),
-      lastPublicated_ (ros::Time::now () - rate_ - rate_)
+      lastPublicated_ ()
   {
+    try {
+      lastPublicated_ = ros::Time::now ();
+    } catch (const std::exception& exc) {
+      throw std::runtime_error ("Failed to call ros::Time::now ():" +
+				std::string (exc.what ()));
+    }
     signalRegistration (trigger_);
     trigger_.setNeedUpdateFromAllChildren (true);
 

src/ros_interpreter.cpp

@@ -8,10 +8,13 @@ namespace dynamicgraph
     : interpreter_ (),
       nodeHandle_ (nodeHandle),
       runCommandSrv_ ()
+  {
+  }
+
+  void Interpreter::startRosService ()
   {
     runCommandCallback_t runCommandCb =
       boost::bind (&Interpreter::runCommandCallback, this, _1, _2);
-
     runCommandSrv_ =
       nodeHandle_.advertiseService ("run_command", runCommandCb);
   }

src/ros_joint_state.cpp

@@ -112,8 +112,14 @@ namespace dynamicgraph
 		sotNOSIGNAL,
 		MAKE_SIGNAL_STRING(name, true, "int", "trigger")),
       rate_ (ROS_JOINT_STATE_PUBLISHER_RATE),
-      lastPublicated_ (ros::Time::now () - rate_ - rate_)
+      lastPublicated_ ()
   {
+    try {
+      lastPublicated_ = ros::Time::now ();
+    } catch (const std::exception& exc) {
+      throw std::runtime_error ("Failed to call ros::Time::now ():" +
+				std::string (exc.what ()));
+    }
     signalRegistration (state_ << trigger_);
     trigger_.setNeedUpdateFromAllChildren (true);