def rosShutdownHook(): mCtrl.ResetBodyhub() rospy.signal_shutdown('node_close')
for i in range(0, 16): mCtrl.SendGaitCommand(0.07, 0.0, -7.5) for i in range(0, 16): mCtrl.SendGaitCommand(0.07, 0.0, 7.5) for i in range(0, 5): mCtrl.SendGaitCommand(0.0, 0.0, -12.0) def rosShutdownHook(): mCtrl.ResetBodyhub() rospy.signal_shutdown('node_close') if __name__ == '__main__': rospy.init_node('walking_SPath_node', anonymous=True) time.sleep(0.2) rospy.on_shutdown(rosShutdownHook) rospy.loginfo('node runing...') if mCtrl.SetBodyhubTo_walking(nodeControlId) == False: rospy.logerr('bodyhub to walking fail!') rospy.signal_shutdown('error') exit(1) time.sleep(1) while not rospy.is_shutdown(): walkingSPath() mCtrl.WaitForWalkingDone() mCtrl.ResetBodyhub() rospy.signal_shutdown('exit')