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✨ Add stop_configuration_service #6

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✨ Add stop_configuration_service #6

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2 changes: 1 addition & 1 deletion package.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,6 @@
<exec_depend>rospy</exec_depend>
<exec_depend>python-rospkg</exec_depend>
<exec_depend>metacontrol_msgs</exec_depend>
<exec_depend>std_srvs</exec_depend>

</package>

18 changes: 14 additions & 4 deletions src/mc_rosgraph_manipulator/rosgraph_manipulator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,8 @@
from roslib.message import get_message_class
from pyparsing import ParseResults
from importlib import import_module
from std_srvs.srv import Empty, EmptyResponse


roslib.load_manifest('rosparam')
rospack = rospkg.RosPack()
Expand Down Expand Up @@ -90,6 +92,9 @@ def __init__(self, name, configFilePath):
'action_msg_type {0} - {1}'.format(action_msg_type[0],
action_msg_type[1]))

self.stop_configuration_service = rospy.Service('stop_configuration',
Empty, self.stop_configuration)

self._as = actionlib.SimpleActionServer(
self.reconfiguration_action_name, MvpReconfigurationAction,
execute_cb=self.reconfiguration_action_cb, auto_start=False)
Expand All @@ -104,17 +109,22 @@ def __init__(self, name, configFilePath):
def callback(self, goal_msg):
self.last_saved_goal = goal_msg.goal

def stop_configuration(self, req):
for node in self.kill_nodes:
kill_node(node)
rospy.loginfo("Stopping node %s" % str(node))
rospy.sleep(2)

return EmptyResponse()

def reconfiguration_action_cb(self, goal):
rospy.loginfo(
'Rosgraph Manipulator Action Server received goal %s' % str(goal))
self._result.result = 1
desired_configuration = goal.desired_configuration_name

if (desired_configuration in self.configurations):
for node in self.kill_nodes:
kill_node(node)
rospy.loginfo("Stopping node %s" % str(node))
rospy.sleep(2)
self.stop_configuration()
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wouldn't this fail because the req argument is missing?

maybe create a separate function for the service callback, and then just call the stop_configuration() so it's not conflicting

rospy.loginfo('Launching new configuration')
self.command = self.configurations.get(desired_configuration)
rospy.loginfo('Launching new configuration, command %s' %
Expand Down