Obstacle avoider wait until ready

[asaba96]

Obstacle avoider wait until ready should be called in the wait_until_ready method call, not in the constructor, as this delays construction of the topic buffer.

iarc7_motion/src/iarc7_motion/iarc_tasks/task_utilities/task_topic_buffer.py

Line 42 in 1dd9cd9

self._obstacle_avoider.wait_until_ready(self._startup_timeout)

[amiller27]

I feel like there was a reason we put that there (like something else broke if we didn't wait there), but I'm not sure

[aftersomemath]

The task_topic_buffer's wait_until_ready is dead code. So yes, if the obstacle avoider's wait_until_ready were moved there it would break things.

[amiller27]

No it's not

https://github.com/Pitt-RAS/iarc7_motion/blob/master/src/iarc7_motion/motion_command_coordinator.py#L105

[aftersomemath]

Github's search is terrible, never again.