L1.5/safety_master_plugin
L1.5/safety_master_plugin
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update

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Signed-off-by: Jakub Delicat <jakub.delicat@pwr.edu.pl>
This commit is contained in:
Jakub Delicat 2023-10-03 14:12:01 +02:00
parent 1d7d2c1269
commit a89977ca45
1 changed files with 3 additions and 2 deletions
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5
safety_master_plugin/ros_master_wrapper.py
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@ -24,6 +24,8 @@ class ROSWrapper(Node):
super().__init__("safety_master_plugin") super().__init__("safety_master_plugin")
self.robots_list_update_callback = None self.robots_list_update_callback = None
self.robot_info_update_callback = None self.robot_info_update_callback = None
self.get_master_stop_state = None
self.get_restrictions = None
self.robot_info_subscribers = {} self.robot_info_subscribers = {}
self.master_stop_publisher = None self.master_stop_publisher = None
@ -123,7 +125,6 @@ class ROSWrapper(Node):
def unregister_node(self): def unregister_node(self):
self.cancel_subscribers_and_publishers() self.cancel_subscribers_and_publishers()
# rospy.signal_shutdown("Closing safety master plugin")
def setup_get_master_stop_state_function(self, function): def setup_get_master_stop_state_function(self, function):
self.get_master_stop_state = function self.get_master_stop_state = function
@ -145,7 +146,7 @@ class ROSWrapper(Node):
except NodeNameNonExistentError: except NodeNameNonExistentError:
pass pass
if len(published_topics_list): if len(published_topics_list) > 0:
robots_id_list.append(pioneer_id) robots_id_list.append(pioneer_id)
self.robots_list_update_callback(robots_id_list) self.robots_list_update_callback(robots_id_list)