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added signal to close node properly

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pinloon.lee
2021-05-18 17:55:40 +08:00
parent 4e6d400ca8
commit 53c687f9ff
1 changed files with 6 additions and 1 deletions
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7
scout_base/src/scout_base_node.cpp
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@@ -11,12 +11,17 @@
using namespace westonrobot; using namespace westonrobot;
std::shared_ptr<ScoutBase> robot; std::shared_ptr<ScoutBase> robot;
bool keep_run = true;
void DetachRobot(int signal) { keep_run = false; }
int main(int argc, char **argv) { int main(int argc, char **argv) {
// setup ROS node // setup ROS node
ros::init(argc, argv, "scout_node"); ros::init(argc, argv, "scout_node");
ros::NodeHandle node(""), private_node("~"); ros::NodeHandle node(""), private_node("~");
std::signal(SIGINT, DetachRobot);
// instantiate a robot object // instantiate a robot object
robot = std::make_shared<ScoutBase>(); robot = std::make_shared<ScoutBase>();
ScoutROSMessenger messenger(robot.get(), &node); ScoutROSMessenger messenger(robot.get(), &node);
@@ -46,7 +51,7 @@ int main(int argc, char **argv) {
// publish robot state at 50Hz while listening to twist commands // publish robot state at 50Hz while listening to twist commands
ros::Rate rate(50); ros::Rate rate(50);
while (true) { while (keep_run) {
if (!messenger.simulated_robot_) { if (!messenger.simulated_robot_) {
messenger.PublishStateToROS(); messenger.PublishStateToROS();
} else { } else {