Exemple #1
0
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;
}
Exemple #2
0
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();
}