Catch ctrl-C and Set value

asked 2020-12-02 01:46:59 -0500

yanaing
35 ●4 ●7 ●9

I am developing a robot and I wrote some programs for that robot. In the robot's motor driving node, I subscribed the topic from /cmd_vel topic. What the current issue is that when the motor is running and if I terminate the motor driving node with ctrl-C, the motor is still running.

Is there any way to put the motor values with 0 before terminating the program? I am using ROS melodic with python as the following.

#!/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("-----------------")

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

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

As with this example, some way to set the value motor_1=0 before terminating the node.

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answered 2020-12-02 03:06:34 -0500

mgruhler

12390 ●32 ●193 ●173 https://github.com/mgruhler

updated 2020-12-02 03:07:23 -0500

You could register a hook with rospy.on_shutdown() as described here, that sets the motor values to zero. Note that, as described, messages aren't guaranteed to be published.

If you need more fancy handling, have a look at the Advanced Example on the same page.

Also, note that if your node crashes for some reason, this will not be called.

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Thanks solved my problem. Normal class destructor __del__() is called but it seems that rospy is already shutdown by that point so you can't publish anything. Meanwhile your method rospy.on_shutdown(self.my_function) calls my_function() before rospy is shutdown and it's able to publish

Combinacijus ( 2023-01-20 14:40:55 -0500 )edit

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answered 2020-12-03 03:45:47 -0500

yanaing
35 ●4 ●7 ●9

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

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Catch ctrl-C and Set value

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