bool RosAriaNode::disable_motors_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response)
{
ROS_INFO("RosAria: Disable motors request.");
robot->lock();
robot->disableMotors();
robot->unlock();
// todo could wait and see if motors do become disabled, and send a response with an error flag if not
return true;
}
void RosAriaNode::cleanup()
{
if (robot != NULL) {
robot->remSensorInterpTask("ROSPublishingTask");
// disable motors and sonar.
robot->disableMotors();
robot->disableSonar();
robot->stopRunning();
delete conn;
delete robot;
}
Aria::shutdown();
}