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Create Turtlebot doesn't stop at shutdown [closed]

asked 2013-06-13 16:59:44 -0500

gkfricke gravatar image

updated 2014-01-28 17:16:53 -0500

ngrennan gravatar image

Occasionally when I shut down (using Ctrl-C) my Create-based quasi-Turtlebots will continue driving with their last received speed commands. This occurs roughly 40-50% of the time.

I do have a shutdown routine that is registered with rospy.on_shutdown that sends 0,0 speed commands to the robot, and I have a print statement indicating that the shutdown routine is being run. I think perhaps those commands are sometimes sent after the turtlebot node has already shut down?

Does anyone else have this problem, and/or know the solution? Thanks!

Setup: This robot is "inspired" by the turtlebot, but is our own interpretation (some of the hardware is different). Running Fuerte on Ubuntu 12.04.2 Precise; the launch file is based on one of the turtlebot_bringup launch files but with our own python controller substituted in and a few other nodes included (VRPN for tracking).

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2017-07-07 15:45:01.930698

1 Answer

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answered 2013-06-14 00:47:09 -0500

Doug Blank gravatar image

updated 2013-06-14 00:47:35 -0500

Perhaps you can register your shutdown code earlier, so that it can run before the code that is shutting down the servers.

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I register the shutdown function during startup... not sure what you mean by earlier? Isn't it called by rospy once the "is_shutdown" signal is sent?

gkfricke gravatar image gkfricke  ( 2013-06-14 12:50:31 -0500 )edit

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Asked: 2013-06-13 16:59:44 -0500

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Last updated: Jun 14 '13