From baf222bf8156dcda4243cf3c8bcad674afdd6e94 Mon Sep 17 00:00:00 2001 From: DinoSage Date: Sun, 7 Apr 2024 18:55:42 +0000 Subject: [PATCH] added return after one instance of destroying node --- src/rktl_sim/rktl_sim/sim_simulator.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/rktl_sim/rktl_sim/sim_simulator.py b/src/rktl_sim/rktl_sim/sim_simulator.py index 549f555b..330e92e3 100755 --- a/src/rktl_sim/rktl_sim/sim_simulator.py +++ b/src/rktl_sim/rktl_sim/sim_simulator.py @@ -74,12 +74,15 @@ def __init__(self): else: #rospy.signal_shutdown('unknown sim mode set "{}"'.format(mode)) self.node.destroy_node()#f'unknown sim mode set "{mode}"') + return + self.cmd_lock = Lock() self.reset_lock = Lock() self.car_cmd = (0.0, 0.0) + #render_enabled = self.get_sim_param('~render', secondParam=False) #self.status_pub = rospy.Publisher('match_status', MatchStatus, queue_size=1) self.status_pub = self.node.create_publisher(MatchStatus, 'match_status', 1) @@ -92,7 +95,7 @@ def __init__(self): elif self.mode == SimulatorMode.IDEAL: #self.ball_odom_pub = rospy.Publisher('/ball/odom', Odometry, queue_size=1) self.ball_odom_pub = self.node.create_publisher(Odometry, '/ball/odom', 1) - + # Services # rospy.Service('sim_reset_car_and_ball', Empty, self.reset_cb) # rospy.Service('sim_reset_ball', Empty, self.reset_ball_cb) @@ -106,6 +109,7 @@ def __init__(self): rate.sleep() except rclpy.ROSInterruptException: pass + def check_urdf(self, urdf_path):