Skip to content

Made body_part_setup.py handle listening for joint info better #16

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Open
Kukanani wants to merge 1 commit into
base: master
Choose a base branch
from
Open

Made body_part_setup.py handle listening for joint info better #16

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
16 changes: 10 additions & 6 deletions hlpr_gazebo/scripts/body_part_setup.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -45,11 +45,10 @@ def send_cmd_msg(self):


def run(self):
while self.joint_names is None:
print "Waiting for joint state information from %s/state topic" %self.controller
rospy.sleep(2)
print "Received joint state information. Sending %s to default position (rads)" % self.controller
print self.position
while self.joint_names is None and not rospy.is_shutdown():
rospy.loginfo_throttle(5, "Waiting for joint state information from %s/state topic" %self.controller)
rospy.sleep(0.1)
rospy.loginfo("Received joint state information. Sending %s to default position (rads)" % self.controller + str(self.position))

cmd_msg = self.send_cmd_msg()
self.goal_pub.publish(cmd_msg)
Expand All @@ -68,4 +67,9 @@ def run(self):


JTT = JointTrajectorySetup(controller=controller, position=position)
JTT.run()
try:
JTT.run()
except rospy.exceptions.ROSInterruptException as e:
rospy.loginfo("JTT for " + controller + "was interrupted before receiving joint information")
else:
pass