yikestone/ros_arduino_bridge
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Added try-except around append(sensor)

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This commit is contained in:
Patrick Goebel 2016-11-01 15:48:03 -07:00
parent aa8ba65e1d
commit d9968a7f4b
1 changed files with 11 additions and 8 deletions
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19
ros_arduino_python/nodes/arduino_node.py
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@ -146,7 +146,7 @@ class ArduinoROS():
dyn_server = dynamic_reconfigure.server.Server(ROSArduinoBridgeConfig, self.dynamic_reconfigure_server_callback, namespace=self.name) dyn_server = dynamic_reconfigure.server.Server(ROSArduinoBridgeConfig, self.dynamic_reconfigure_server_callback, namespace=self.name)
# Connect to the dynamic_reconfigure client # Connect to the dynamic_reconfigure client
dyn_client = dynamic_reconfigure.client.Client(self.name, timeout=5) dyn_client = dynamic_reconfigure.client.Client (self.name, timeout=5)
# Reserve a thread lock # Reserve a thread lock
mutex = thread.allocate_lock() mutex = thread.allocate_lock()
@ -201,15 +201,18 @@ class ArduinoROS():
# self.sensors[len(self.sensors)]['trigger_pin'] = params['trigger_pin'] # self.sensors[len(self.sensors)]['trigger_pin'] = params['trigger_pin']
# self.sensors[len(self.sensors)]['output_pin'] = params['output_pin'] # self.sensors[len(self.sensors)]['output_pin'] = params['output_pin']
self.device.sensors.append(sensor) try:
self.device.sensors.append(sensor)
if params['rate'] != None and params['rate'] != 0: if params['rate'] != None and params['rate'] != 0:
rospy.loginfo(name + " " + str(params) + " published on topic " + rospy.get_name() + "/sensor/" + name) rospy.loginfo(name + " " + str(params) + " published on topic " + rospy.get_name() + "/sensor/" + name)
else:
if sensor.direction == "input":
rospy.loginfo(name + " service ready at " + rospy.get_name() + "/" + name + "/read")
else: else:
rospy.loginfo(name + " service ready at " + rospy.get_name() + "/" + name + "/write") if sensor.direction == "input":
rospy.loginfo(name + " service ready at " + rospy.get_name() + "/" + name + "/read")
else:
rospy.loginfo(name + " service ready at " + rospy.get_name() + "/" + name + "/write")
except:
rospy.logerr("Sensor type " + str(params['type'] + " not recognized."))
# If at least one IMU or gyro is used for odometry, set the use_imu_heading flag on the base controller # If at least one IMU or gyro is used for odometry, set the use_imu_heading flag on the base controller
if self.use_base_controller and len(self.imu_for_odom) > 0: if self.use_base_controller and len(self.imu_for_odom) > 0: