From 932282526de2f90c9edbaa517d571cf94e7b8f55 Mon Sep 17 00:00:00 2001
From: Patrick Goebel <patrick@pirobot.org>
Date: Mon, 14 Dec 2015 18:32:17 -0800
Subject: [PATCH] Added check for base_controller before stopping robot when
 node exits

---
 ros_arduino_python/nodes/arduino_node.py | 9 +++++----
 1 file changed, 5 insertions(+), 4 deletions(-)

diff --git a/ros_arduino_python/nodes/arduino_node.py b/ros_arduino_python/nodes/arduino_node.py
index 3298882..af211cb 100755
--- a/ros_arduino_python/nodes/arduino_node.py
+++ b/ros_arduino_python/nodes/arduino_node.py
@@ -266,12 +266,13 @@ class ArduinoROS():
         return AnalogReadResponse(value)
         
     def shutdown(self):
-        rospy.loginfo("Shutting down Arduino Node...")
+        rospy.loginfo("Shutting down Arduino node...")
 
         # Stop the robot
-        rospy.loginfo("Stopping the robot...")
-        self.cmd_vel_pub.publish(Twist())
-        rospy.sleep(2)
+        if self.use_base_controller:
+            rospy.loginfo("Stopping the robot...")
+            self.cmd_vel_pub.publish(Twist())
+            rospy.sleep(2)
 
         # Detach any servos
         if self.have_joints: