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RethinkRobotics / intera_sdk

Software Development Kit and Interface for Rethink Robotics robots
http://sdk.rethinkrobotics.com/intera/
Apache License 2.0
40 stars 63 forks source link

Exit Interaction Control mode when exiting scripts #139

Closed rethink-forrest closed 6 years ago

rethink-forrest commented 6 years ago

For these two scripts, I moved most of the code out of the main function into a object class with a send_position_cmd function which is called at shutdown. Setting the publishing rate to zero will the send the interaction command once and exit without sending a position command.

Tested on a robot by stopping the two scripts by pressing both cntr-c and the e-stop button. Tested that commanded line arguments are still properly passed into the interaction command messages.

rethink-forrest commented 6 years ago

@IanTheEngineer, note that this should be a "squash and merge".