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Stop motor when there is no subscriber to scan #50

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Stop motor when there is no subscriber to scan #50

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7b6e4d7
Stop motor when there is no subscriber to scan
nxdefiant Dec 25, 2017
29c2702
Merge remote-tracking branch 'upstream/master'
nxdefiant Oct 4, 2018
40f4a32
Stop motor when there is no subscriber to scan
nxdefiant Oct 4, 2018
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13 changes: 13 additions & 0 deletions src/node.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -282,6 +282,7 @@ int main(int argc, char * argv[]) {
ros::Time start_scan_time;
ros::Time end_scan_time;
double scan_duration;
uint32_t prev_num_subscribers=(uint32_t)-1;
while (ros::ok()) {
rplidar_response_measurement_node_hq_t nodes[360*8];
size_t count = _countof(nodes);
Expand Down Expand Up @@ -349,6 +350,18 @@ int main(int argc, char * argv[]) {
}
}

uint32_t num_subcribers = scan_pub.getNumSubscribers();
if (num_subcribers == 0 && prev_num_subscribers != 0) {
ROS_DEBUG("No subscribers: Stop motor");
drv->stop();
drv->stopMotor();
} else if (num_subcribers != 0 && prev_num_subscribers == 0) {
ROS_DEBUG("At least one subscribers: Start motor");
drv->startMotor();
drv->startScan(0,1);
}
prev_num_subscribers = num_subcribers;

ros::spinOnce();
}

Expand Down