From 890ba3d12197a1aad1f4721926f4bdd34511f491 Mon Sep 17 00:00:00 2001 From: Sem van der Hoeven Date: Mon, 22 May 2023 15:09:54 +0200 Subject: [PATCH] add manual spin --- src/api_communication/api_communication/api_listener.py | 6 +++++- 1 file changed, 5 insertions(+), 1 deletion(-) diff --git a/src/api_communication/api_communication/api_listener.py b/src/api_communication/api_communication/api_listener.py index fa482a2b..c91f8d0d 100644 --- a/src/api_communication/api_communication/api_listener.py +++ b/src/api_communication/api_communication/api_listener.py @@ -21,6 +21,10 @@ class ApiListener(Node): self.get_logger().info('Received drone battery and cpu: {0} {1}'.format(msg.battery_percentage,msg.cpu_usage)) self.last_battery_percentage = msg.battery_percentage self.last_cpu_usage = msg.cpu_usage + + def spin(self): + while rclpy.ok(): + rclpy.spin_once(self,timeout_sec=0.1) async def handle_api(self): self.get_logger().info('Starting API') @@ -46,7 +50,7 @@ async def main(args=None): # start the websockets api in its own task wrapper asyncio.ensure_future(api_listener.handle_api()) - rclpy.spin(api_listener) + api_listener.spin() api_listener.destroy_node() rclpy.shutdown()