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potential fix for core node not spinning in anchor mode

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Tristan McGinnis
2025-02-20 14:17:45 -06:00
parent aa231d43ca
commit 6f98eb231a
1 changed files with 6 additions and 5 deletions
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11
src/core_pkg/core_pkg/core_node.py
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@@ -80,12 +80,13 @@ class SerialRelay(Node):
thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True) thread = threading.Thread(target=rclpy.spin, args={self}, daemon=True)
thread.start() thread.start()
if self.launch_mode == 'core':
try: try:
while rclpy.ok(): while rclpy.ok():
if self.launch_mode == 'core':
self.read_MCU() # Check the MCU for updates self.read_MCU() # Check the MCU for updates
except KeyboardInterrupt: except KeyboardInterrupt:
sys.exit(0) sys.exit(0)
def read_MCU(self): def read_MCU(self):
try: try: