Merge pull request #182 from compas-dev/closing_event

Use closing event

Author: beverlylytle

setup.py

@@ -12,7 +12,7 @@
 requirements = [
     # Until COMPAS reaches 1.0, we pin major.minor and allow patch version updates
     'compas>=0.16.1,<0.17',
-    'roslibpy>=0.7.1',
+    'roslibpy>=1.1.0',
     'pyserial',
 ]
 keywords_list = ['robotic fabrication', 'digital fabrication', 'architecture', 'robotics', 'ros']

src/compas_fab/backends/ros/client.py

@@ -150,8 +150,6 @@ def __enter__(self):
         return self
 
     def __exit__(self, *args):
-        self.planner.dispose_planner()
-        # self.closing() ?
         self.close()
 
     def load_robot(self, load_geometry=False, urdf_param_name='/robot_description', srdf_param_name='/robot_description_semantic', precision=None, local_cache_directory=None):

src/compas_fab/backends/ros/planner.py

@@ -32,7 +32,7 @@ def __init__(self, client):
         self.attached_collision_object_topic = None
 
         self.client.on_ready(self.init_planner)
-        # self.client.on_closing(self.dispose_planner)
+        self.client.on('closing', self.dispose_planner)
 
     @forward_docstring(MoveItForwardKinematics)
     def forward_kinematics(self, *args, **kwargs):