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[ros2_driver] Updated to get rid of error message at Ctrl+C termination

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This commit is contained in:
JuneChul Roh
2023-11-17 15:04:41 -06:00
parent e2311daf1a
commit 1ffa862e94
2 changed files with 82 additions and 82 deletions
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5
ros2_driver/src/ti_mmwave_rospkg/src/DataHandlerClass.cpp
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@@ -10,7 +10,6 @@
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
using namespace std::chrono_literals;
std::shared_ptr<rclcpp::Node> node = nullptr;
rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr DataUARTHandler_pub;
rclcpp::Publisher<ti_mmwave_rospkg_msgs::msg::RadarScan>::SharedPtr radar_scan_pub;
rclcpp::Publisher<ti_mmwave_rospkg_msgs::msg::RadarOccupancy>::SharedPtr radar_occupancy_pub;
@@ -39,6 +38,8 @@ void DataUARTHandler::sigHandler(int32_t sig)
}
rclcpp::shutdown();
exit(0);
}
struct mmWaveCloudType
@@ -1256,7 +1257,7 @@ void DataUARTHandler::stop()
int main(int argc, char **argv)
{
rclcpp::init(argc, argv);
node = std::make_shared<DataUARTHandlerNode>();
auto node = std::make_shared<DataUARTHandlerNode>();
std::string mySerialPort = node->get_parameter("data_port").as_string();
std::string myBaudRate = node->get_parameter("data_rate").as_string();
std::string myFrameID = "/ti_mmwave_0";

3
ros2_driver/src/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp
View File

@@ -17,7 +17,6 @@
#include <vector>
using namespace std::chrono_literals;
std::shared_ptr<rclcpp::Node> nodeptr = nullptr;
class mmWaveQuickConfig : public rclcpp::Node
{
@@ -35,7 +34,7 @@ private:
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
nodeptr = std::make_shared<mmWaveQuickConfig>();
auto nodeptr = std::make_shared<mmWaveQuickConfig>();
rclcpp::Client<ti_mmwave_rospkg_msgs::srv::MmwaveCli>::SharedPtr client = nodeptr->create_client<ti_mmwave_rospkg_msgs::srv::MmwaveCli>("/ti_mmwave_rospkg_msgs/mmwave_cli");
auto request = std::make_shared<ti_mmwave_rospkg_msgs::srv::MmwaveCli::Request>();
auto response = std::make_shared<ti_mmwave_rospkg_msgs::srv::MmwaveCli::Response>();