controller fails to reconnect after accidental disconnect due to faulty use of rclpy.spin, wrong usage of rclpy.shutdown_now(), wrong approach ot destroying the one-shot timer in controller_ros.py #20
Hello @naoki-mizuno! After we successfully merged the latest changes to the foxy-devel branch I have continued working with the ds4_driver and spotted some more issues:
in ds4_driver_node.py there is an incorrect usage of rclpy.shutdown_now(), a function which I have been unable to find in the current rclpy documentation. Needs to be replaced with rclpy.shutdown()
the way in which spinning is handled now in ds4_driver_node.py renders the controller to be unable to reconnect if it is disconnected at some point at runtime.
the way in which i have tried to destroy the one-shot timer reference in controller_ros.py was not correct previously and needs to be updated to the correct one.
I have opened a new pull request #19 for the foxy-devel branch in which I am addressing all of these issues with proper fixes which I have also tested thoroughly. Please check the new changes whenever you got the time and let me know if you think they are suitable.
naoki-mizuno
commented
3 years ago
Hello @naoki-mizuno! After we successfully merged the latest changes to the
foxy-develbranch I have continued working with theds4_driverand spotted some more issues:ds4_driver_node.pythere is an incorrect usage ofrclpy.shutdown_now(), a function which I have been unable to find in the currentrclpydocumentation. Needs to be replaced withrclpy.shutdown()ds4_driver_node.pyrenders the controller to be unable to reconnect if it is disconnected at some point at runtime.controller_ros.pywas not correct previously and needs to be updated to the correct one.I have opened a new pull request #19 for the
foxy-develbranch in which I am addressing all of these issues with proper fixes which I have also tested thoroughly. Please check the new changes whenever you got the time and let me know if you think they are suitable.