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I will rewrite the question. Because I feel like you doesn't understand my question.

I have develop a keyboard component to read the keyboard and publish a twist message.

I have a boost thread to read the keyboards ( because I want a frequency higher than the publisher ). An I also have one while( ros::ok() ) which publish the data to my teleoperation node.

When I press ^C it throws me this message :

Failed to call commander_service
[keyboard-2] escalating to SIGTERM

So how I can do my keyboard node to close it correctly ? This is not a problem when you use one time, but if you have to stop and start many times you lose a lot of time.