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Shut down the gps_to_pose_conversion cleanly #37

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Shut down the gps_to_pose_conversion cleanly #37

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5 changes: 4 additions & 1 deletion src/gps_to_pose_conversion_node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -220,7 +220,10 @@ int main(int argc, char **argv) {
"GPS reference not ready yet, use set_gps_reference_node to set it");
ros::Duration(0.5).sleep(); // sleep for half a second
}
} while (!g_geodetic_converter.isInitialised());
} while (ros::ok() && !g_geodetic_converter.isInitialised());

if (!ros::ok())
return 0;

// Show reference point
double initial_latitude, initial_longitude, initial_altitude;
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