Commit e31c1dbc authored by phfriedl's avatar phfriedl
Browse files

fixed service race condition at startup, crazyflie resets before shutdown

parent 5e28532a
......@@ -129,6 +129,8 @@ if __name__ == '__main__':
rospy.spin()
rospy.loginfo("Turning off crazyflie")
cf_client._send_to_commander(0, 0, 0, 0, 0, 0, 0, 0, CONTROLLER_MOTOR)
#wait for client to send its commands
time.sleep(1.0)
cf_client._cf.close_link()
rospy.loginfo("Link closed")
else:
......
......@@ -88,8 +88,7 @@ void ppsClientToController(ViconData data, bool autocontrolOn){
//onboardControllerType = ??????????????????????
}
else{
} else {
ROS_ERROR("Failed to call SafeControllerService");
//return 1; //return some useful stuff
}
......@@ -171,6 +170,7 @@ int main(int argc, char* argv[]){
//service
//to be expanded with additional services depending on controller (currently only one available)
ros::service::waitForService("/SafeControllerService/RateController");
safeController = nodeHandle.serviceClient<RateController>("/SafeControllerService/RateController", true);
//safeController = nodeHandle.serviceClient<d_fall_pps::RateController>("/SafeControllerService/RateController", true);
......
Supports Markdown
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Finish editing this message first!
Please register or to comment