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Add execute homing on ROS node exit

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This commit is contained in:
Nicolas Hiillos
2023-01-17 11:53:32 +02:00
parent ee22bab9f0
commit ed023558aa
1 changed files with 7 additions and 1 deletions
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8
src/axidraw_controller/src/py/axidraw_serial.py
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@@ -68,6 +68,12 @@ class AxidrawSerial(Node):
response.status = self.status.get(request.resource, "Resource '{}' not found.".format(request.resource)) response.status = self.status.get(request.resource, "Resource '{}' not found.".format(request.resource))
return response return response
def go_home(self):
self.status["motion"] = "busy"
if self.status["serial"] == "ready":
self.ad.moveto(0,0)
self.status["motion"] = "ready"
def set_busy(self): def set_busy(self):
self.status["motion"] = "busy" self.status["motion"] = "busy"
@@ -114,7 +120,7 @@ def main(args=None):
axidraw_serial = AxidrawSerial() axidraw_serial = AxidrawSerial()
rclpy.spin(axidraw_serial) rclpy.spin(axidraw_serial)
axidraw_serial.go_home()
rclpy.shutdown() rclpy.shutdown()