sem/5g_drone_ROS2
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add manual spin

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Sem van der Hoeven
2023-05-22 15:09:54 +02:00
parent 8d26aefe79
commit 890ba3d121
1 changed files with 5 additions and 1 deletions
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6
src/api_communication/api_communication/api_listener.py
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@@ -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.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_battery_percentage = msg.battery_percentage
self.last_cpu_usage = msg.cpu_usage 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): async def handle_api(self):
self.get_logger().info('Starting API') self.get_logger().info('Starting API')
@@ -46,7 +50,7 @@ async def main(args=None):
# start the websockets api in its own task wrapper # start the websockets api in its own task wrapper
asyncio.ensure_future(api_listener.handle_api()) asyncio.ensure_future(api_listener.handle_api())
rclpy.spin(api_listener) api_listener.spin()
api_listener.destroy_node() api_listener.destroy_node()
rclpy.shutdown() rclpy.shutdown()