Merge branch 'main' into 29-servo-sg90-not-using-full-180deg-range

ArendJan · Oct 26, 2023 · 4969038 · 4969038
2 parents c26dc5b + b2f84e0
commit 4969038
Show file tree

Hide file tree

Showing 2 changed files with 5 additions and 1 deletion.
diff --git a/mirte_bringup/launch/minimal.launch b/mirte_bringup/launch/minimal.launch
@@ -11,7 +11,8 @@
          mcu -->
     <node name="mirte_telemetrix_mirte" output="screen"
           pkg="mirte_telemetrix"
-          type="ROS_telemetrix_aio_api.py"/>
+          type="ROS_telemetrix_aio_api.py"
+          respawn="true"/>
 
     <!-- ROS control hardware interface for differential
          drive robot. -->

diff --git a/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py b/mirte_telemetrix/scripts/ROS_telemetrix_aio_api.py
@@ -1037,6 +1037,9 @@ async def shutdown(loop, board):
         # Stop the asyncio loop
         loop.stop()
         print("Telemetrix shutdown nicely")
+        rospy.signal_shutdown(0)
+        time.sleep(1)
+        exit(0)
 
 
 if __name__ == "__main__":