python ros 關閉節點

 

def myhook():
  print "shutdown time!"
rospy.on_shutdown(myhook)

 

或

---

 

rospy.signal_shutdown(reason)

• 初始化節點關閉
• reason 為關閉理由，字符串內容。

 

例子：

#!/usr/bin/env python
import rospy
import math
import sys
from tf import transformations
from geometry_msgs.msg import PoseWithCovarianceStamped
class PoseSetter(rospy.SubscribeListener):
    def __init__(self, pose):
        self.pose = pose
    def peer_subscribe(self, topic_name, topic_publish, peer_publish):
        p = PoseWithCovarianceStamped()
        print("hh")
        p.header.frame_id = "map"
        p.pose.pose.position.x = self.pose[0]
        p.pose.pose.position.y = self.pose[1]
        (p.pose.pose.orientation.x,
        p.pose.pose.orientation.y,
        p.pose.pose.orientation.z,
        p.pose.pose.orientation.w) = transformations.quaternion_from_euler(0, 0, self.pose[2])
        p.pose.covariance[6*0+0] = 0.5 * 0.5
        p.pose.covariance[6*1+1] = 0.5 * 0.5
        p.pose.covariance[6*3+3] = math.pi/12.0 * math.pi/12.0
        peer_publish(p)
        print("ll")
        rospy.signal_shutdown("closed!")

x=True
print("dd")
pose = [-9.983256,-2.641909,-1.201580]#x,y,a
rospy.init_node('pose_setter', anonymous=True)
if(x):
    print("tt")
    pub=rospy.Publisher("initialpose", PoseWithCovarianceStamped,PoseSetter(pose),queue_size=10)
    x=False
else:
    print("x=False")
print("ff")
rospy.spin()
print("pp")