Revision history [back]

Thanks... It work.! I finalize my motor node as follwoing.

#!/usr/bin/env python
import ........

class main():
    def __init__(self):
         rospy.init_node("robot", anonymous=False)
         rospy.Subscriber(..........)
         self.pub=rospy.Publisher(..........)

         rospy.Timer(rospy.Duration(0.2), self.main_callback)
         while not rospy.is_shutdown():
              rospy.sleep(0.2)
              print("-----------------")

         rospy.on_shutdown(self.shutdown)

     def shutdown(self):
         motor_1=0

     def main_callback(self, event):
           ......................
           motor_1  =  50
           ....end.....

if __name__="__main__":
          try: main()
          except rospy.ROSInterruptException: pass