Loop logic cleanup #63
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AndyZe
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sea-bass
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Feb 4, 2023
| @@ -24,8 +24,13 @@ def __init__(self): | |||
| GoalSpecification, "goal_specification", 10 | |||
| ) | |||
| self.get_logger().info("Waiting for subscription") | |||
| while self.goalspec_pub.get_subscription_count() < 1: | |||
| while rclpy.ok() and self.goalspec_pub.get_subscription_count() < 1: | |||
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Seems like this change causes a deadlock when you run e.g. ros2 launch pyrobosim_ros demo_pddl.launch.py. Can you look at this to see if something is amiss, or else revert this?
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I don't see what the problem is. I figured it might be that rclpy.init() was not called prior, but it is.
I'll refactor and open a new PR to avoid the issue.
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Detect Ctrl+C and quit the while loop gracefully. Also, added a sleep to one loop to reduce CPU usage.