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rickstaa / ros-gazebo-gym

Framework for integrating ROS and Gazebo with gymnasium, streamlining the development and training of RL algorithms in realistic robot simulations.
https://rickstaa.dev/ros-gazebo-gym/
MIT License
26 stars 2 forks source link

fix: prevent ros shutdown racing condition #71

Closed rickstaa closed 8 months ago

rickstaa commented 8 months ago

This pull request prevents a racing condition in the Franka states subscriber when a ros shutdown is requested. In the old code, the collision publisher is closed before the franka states subscriber, leading to a None type error.