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installed signal handler to terminate robot more quickly when ctrl+c is pressed

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This commit is contained in:
Ruixiang Du
2020-11-05 12:49:14 +08:00
parent a45f249043
commit 86b729deb3
1 changed files with 9 additions and 1 deletions
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10
scout_base/src/scout_base_node.cpp
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@@ -8,13 +8,21 @@
using namespace westonrobot; using namespace westonrobot;
ScoutBase robot;
void DetachRobot(int signal) {
robot.Disconnect();
robot.Terminate();
}
int main(int argc, char **argv) { int main(int argc, char **argv) {
// setup ROS node // setup ROS node
ros::init(argc, argv, "scout_odom"); ros::init(argc, argv, "scout_odom");
ros::NodeHandle node(""), private_node("~"); ros::NodeHandle node(""), private_node("~");
std::signal(SIGINT, DetachRobot);
// instantiate a robot object // instantiate a robot object
ScoutBase robot;
ScoutROSMessenger messenger(&robot, &node); ScoutROSMessenger messenger(&robot, &node);
// fetch parameters before connecting to robot // fetch parameters before connecting to robot