From 6f98eb231a19e8bcdd1ef81e97d07a372d4c814d Mon Sep 17 00:00:00 2001 From: Tristan McGinnis Date: Thu, 20 Feb 2025 14:17:45 -0600 Subject: [PATCH] potential fix for core node not spinning in anchor mode --- src/core_pkg/core_pkg/core_node.py | 11 ++++++----- 1 file changed, 6 insertions(+), 5 deletions(-) diff --git a/src/core_pkg/core_pkg/core_node.py b/src/core_pkg/core_pkg/core_node.py index 4ee80fb..c170c94 100644 --- a/src/core_pkg/core_pkg/core_node.py +++ b/src/core_pkg/core_pkg/core_node.py @@ -80,12 +80,13 @@ class SerialRelay(Node): thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True) thread.start() - if self.launch_mode == 'core': - try: - while rclpy.ok(): + + try: + while rclpy.ok(): + if self.launch_mode == 'core': self.read_MCU() # Check the MCU for updates - except KeyboardInterrupt: - sys.exit(0) + except KeyboardInterrupt: + sys.exit(0) def read_MCU(self): try: