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Interrupting rospy.spin() or writing a custom loop that does the equivalent.

asked 2017-01-20 17:48:20 -0600

lwoiceshyn
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Hi,

Is there a way to exit the rospy.spin() loop without completely shutting down the node?

Or possibly is there a way to write my own equivalent rospy.spin() loop which answers service calls periodically until I stop it?

Any help or comments are appreciated.

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answered 2017-01-21 01:15:29 -0600

NEngelhard
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The code of rospy.spin can be found on github/roscom

It boils down to

while not rospy.core.is_shutdown():
    rospy.rostime.wallsleep(0.5)

So you can write your node around this loop and leave the loop whenever you want.

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rospy.spin() is not even really needed to have a properly working ROS python node. rospy.spin() is just provided to have something that allows a similar control flow to be setup to how roscpp does things.

gvdhoorn ( 2017-01-21 03:14:47 -0600 )edit

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Asked: 2017-01-20 17:48:20 -0600

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Last updated: Jan 21 '17

Interrupting rospy.spin() or writing a custom loop that does the equivalent. edit

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Interrupting rospy.spin() or writing a custom loop that does the equivalent.