weird minor changes

purdue-arc · Apr 7, 2024 · 6593d76 · 6593d76
1 parent f3da2d9
commit 6593d76
Show file tree

Hide file tree

Showing 2 changed files with 7 additions and 6 deletions.
diff --git a/src/rktl_control/rktl_control/keyboard_interface.py b/src/rktl_control/rktl_control/keyboard_interface.py
@@ -67,7 +67,7 @@ def main():
     rclpy.init(args=sys.argv)
     node = rclpy.create_node('keyboard')
 
-    effort_pub = node.create_publisher(ControlEffort, 'effort', queue_size=1)
+    effort_pub = node.create_publisher(ControlEffort, 'effort', 1)
     reset_srv = node.create_client(Empty, '/sim_reset')
 
     wrapper(main)

diff --git a/src/rktl_sim/rktl_sim/sim_simulator.py b/src/rktl_sim/rktl_sim/sim_simulator.py
@@ -63,7 +63,7 @@ def __init__(self):
         # rospy.init_node('simulator')
         rclpy.init(args=sys.argv)
         global node
-        node = rclpy.create_node("simulator")
+        self.node = rclpy.create_node("simulator")
 
 
         mode = self.get_sim_param('~mode')
@@ -73,7 +73,8 @@ def __init__(self):
             self.mode = SimulatorMode.REALISTIC
         else:
             #rospy.signal_shutdown('unknown sim mode set "{}"'.format(mode))
-            self.destroy_node('unknown sim mode set "{}"'.format(mode))
+            self.node.destroy_node()
+            #rclpy.shutdown()
 
 
         self.cmd_lock = Lock()
@@ -113,7 +114,7 @@ def check_urdf(self, urdf_path):
 
         if urdf_path is None:
             #rospy.signal_shutdown('no urdf path set for "{}"'.format(urdf_path))
-            self.destroy_node('no urdf path set for "{}"'.format(urdf_path))
+            self.node.destroy_node()
             try:
                 raise Exception('no urdf path set for "{}"'.format(urdf_path))
             except Exception as e:
@@ -127,7 +128,7 @@ def check_urdf(self, urdf_path):
 
         if not os.path.isfile(urdf_path):
             #rospy.signal_shutdown('no urdf file exists at path {}'.format(urdf_path))
-            self.destroy_node('no urdf file exists at path {}'.format(urdf_path))
+            self.node.destroy_node()
 
 
     def effort_cb(self, effort_msg, car_id):
@@ -404,7 +405,7 @@ def update_all_cars(self):
 
             if 'name' not in car_config:
                 #rospy.signal_shutdown('no "name" set for car config in sim')
-                self.destroy_node('no "name" set for car config in sim')
+                self.node.destroy_node()
 
             car_name = car_config['name']
             if 'randomize_pose' in car_config: