The site is read-only. Please transition to use Robotics Stack Exchange
| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
 | 1 | initial version |
Hello,
If you have hector_trajectory_server, a node that control the robot and a node that save the file, you can do what you want with bond. Bond allow you to make 2 nodes notified each other if one die. So your software flow will be like this : Run Hector, Controller and Logger > Bond Logger and Controller > Wait > Controller Die and notify Logger > Logger Subscribe to Hector Path and save to a file > Logger die > ? > Profit.
| | 2 | No.2 Revision |
Hello,
If you have hector_trajectory_server, a node that control the robot and a node that save the file, you can do what you want with bond.
.
Bond allow you to make 2 nodes notified each other if one die.
So your software flow will be like this :
Run Hector, Controller and Logger > Bond Logger and Controller > Wait > Controller Die and notify Logger > Logger Subscribe to Hector Path and save to a file > Logger die > ? > Profit.
Edit : Found a second possible solution :
For cpp : Subscribe to the path topic at the beginning but do nothing while a flag is false, then define a custom SIGINT handler (2.2.1), where you put the flag to true to save the path to a file and shutdown the node cleanly.
For Python : Do a callback where you subscribe to the topic and save it in a file and put this callback in : rospy.is_shutdown() , to do some work before shutting down (Documentation 2.2)
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
