Catch if attributes detection fail in main state machine

MBTMBTMBT · Jun 26, 2024 · 6eed3d9 · 6eed3d9
2 parents 205897e + 77b66a8
commit 6eed3d9
Show file tree

Hide file tree

Showing 12 changed files with 452 additions and 495 deletions.
diff --git a/common/navigation/lasr_person_following/nodes/person_following.py b/common/navigation/lasr_person_following/nodes/person_following.py
@@ -31,7 +31,7 @@ def __init__(self) -> None:
         self._server.start()
 
     def _execute_cb(self, _: FollowGoal) -> None:
-        while not self._follower.begin_tracking():
+        while not self._follower.begin_tracking(ask=False):
             rospy.logwarn("No people found, retrying...")
             rospy.sleep(rospy.Duration(1.0))
         warnings.warn(
@@ -48,6 +48,6 @@ def _preempt_cb(self) -> None:
 
 if __name__ == "__main__":
     rospy.init_node("person_following_server")
-    rospy.loginfo("Person following server started")
     server = PersonFollowingServer()
+    rospy.loginfo("Person following server started")
     rospy.spin()