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Description
Running the example from the docs interactively, is_shutdown
returns true after a keyboard interrupt.
julia>begin
using RobotOS
@rosimport geometry_msgs.msg: Point, Pose2D
rostypegen()
using .geometry_msgs.msg
function callback(msg::Pose2D, pub_obj::Publisher{Point})
pt_msg = Point(msg.x, msg.y, 0.0)
publish(pub_obj, pt_msg)
end
function loop(pub_obj)
loop_rate = Rate(5.0)
while ! is_shutdown()
npt = Point(rand(), rand(), 0.0)
publish(pub_obj, npt)
rossleep(loop_rate)
end
end
function main()
init_node("rosjl_example")
pub = Publisher{Point}("pts", queue_size=10)
sub = Subscriber{Pose2D}("pose", callback, (pub,), queue_size=10)
loop(pub)
end
end
julia> main()
^C
julia> is_shutdown()
true
When debugging my own ROS project, which has a similar while !is_shutdown()
structure, I want to be able to continue running pieces of the code after interrupting the loop. Is there a way to do that? E.g. handling the interrupt in some specific way, structuring the loop differently, etc.
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