Building a node that can be controlled while executing
I am currently working in a project in which we are going to use ROS as a framework to control a robot and also obtain different readings from it to process. To control the process of obtaining the information from the robot I wanted to do a small logic control through the keyboard which would allow me to check when should we store the information from the robot and when not, when to make it return to home position, ...
Since the function spin is needed to be used whenever a node is created to activate it, I cannot think of any elegant solution (more than maybe using a timer that will activate the reading of information every certain amount of time) that would allow me to do this.
Apart of this project, I'm also currently developing a GUI tool for ROS 2 foxy to facilitate the spawning spawn scheduling of robots in simulation, and would also like to if someone knows of any project that currently uses GUIs in ROS 2 to check how the reading from the GUI is done even if the spin function is used.
All of this is being developed in Python.
