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This commit is contained in:
Max Hunt 2020-02-10 18:11:44 +00:00
parent 6588d604fe
commit f963ae892d
1 changed files with 5 additions and 2 deletions
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7
object_tf_service.py
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@ -24,6 +24,8 @@ class tf_service():
def _callback(self, data): def _callback(self, data):
# Get index # Get index
if SIGKILL:
self._kill()
for object_name in self._nodes: for object_name in self._nodes:
'''HORRIBLE HACK BEGIN''' '''HORRIBLE HACK BEGIN'''
if object_name == 'baxter::base': if object_name == 'baxter::base':
@ -42,6 +44,8 @@ class tf_service():
(object_pose.orientation.x, object_pose.orientation.y, object_pose.orientation.z, object_pose.orientation.w), (object_pose.orientation.x, object_pose.orientation.y, object_pose.orientation.z, object_pose.orientation.w),
rospy.Time.now(), spawn_name,'gazebo_world') rospy.Time.now(), spawn_name,'gazebo_world')
def _kill(self):
rospy.signal_shutdown('User_requested')
def gazebo_link_subscriber(self): def gazebo_link_subscriber(self):
global a global a
@ -54,5 +58,4 @@ class tf_service():
def init(): def init():
x = tf_service() x = tf_service()
x.gazebo_link_subscriber() x.gazebo_link_subscriber()