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Merge pull request #14 from jwpleow/v1.x

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Turn off ControlLoop in Disconnect
This commit is contained in:
Du Ruixiang
2021-11-24 09:27:06 +08:00
committed by GitHub
parent 70c6981bd9 6f87299f5d
commit 459e015729
1 changed files with 1 additions and 0 deletions
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ugv_sdk/src/mobile_base.cpp
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@@ -35,6 +35,7 @@ void MobileBase::Connect(std::string dev_name, int32_t baud_rate) {
} }
void MobileBase::Disconnect() { void MobileBase::Disconnect() {
keep_running_ = false;
if (can_connected_) can_if_->StopService(); if (can_connected_) can_if_->StopService();
if (serial_connected_ && serial_if_->IsOpened()) { if (serial_connected_ && serial_if_->IsOpened()) {
serial_if_->StopService(); serial_if_->StopService();