[ros-users] handling multiple topics in Python

Fri Apr 16 04:34:08 UTC 2010

Patrick,

Can you copy and paste the exact line you were using to run it?

Thanks,
Blaise

On Thu, 2010-04-15 at 20:56 -0700, Patrick Bouffard wrote:
> Hi Blaise,
> 
> I had autorepeat_rate set to various values, usually between 20 and 80
> (I really only need something closer to 20 but was experimenting to
> see if that would help the issues). Also dev was set to
> /dev/input/js0.
> 
> Cheers,
> Pat
> 
> On Thu, Apr 15, 2010 at 8:35 PM, Blaise Gassend <blaise at willowgarage.com> wrote:
> > Hi Patrick,
> >
> > Adding a timestamp to the joy message seems like a good idea, which I
> > have ticketed myself to add in a future version of joystick_drivers.
> > However, adding it just to your own node will make it unable to work
> > with any of the other nodes that use joysticks which is unfortunate...
> >
> > Could you send me the parameters you were using with joy_node? In
> > particular, I want to know if you have it set to autorepeat.
> >
> > Thanks,
> > Blaise
> >
> > On Thu, 2010-04-15 at 19:48 -0700, Patrick Bouffard wrote:
> >> Hi Blaise,
> >>
> >> It seems to be difficult to reproduce. I tried your command and let it
> >> run for several minutes and it didn't crop up. Then I tried without -w
> >> 10 and it happened almost immediately. Then I tried both ways (with
> >> and without -w 10) a number of times and didn't see it again. Perhaps
> >> it's a hardware issue? Then again, if it is, it doesn't affect my own
> >> pygame based node, or at least it hasn't so far.
> >>
> >> The joystick is a Logitech Extreme3D Pro. If you have any other
> >> suggestions for troubleshooting let me know, but I'm fine with using
> >> the Python node, and actually prefer it as it's easier to tweak (for
> >> example, I added a timestamp to the message). I'm happy to contribute
> >> that code if anyone is interested.
> >>
> >> Cheers,
> >> Pat
> >>
> >> On Thu, Apr 15, 2010 at 7:26 PM, Blaise Gassend <blaise at willowgarage.com> wrote:
> >> > Can you redo the rostopic hz like this:
> >> > rostopic hz /joy -w 10
> >> >
> >> > It will make the results easier to interpret.
> >> >
> >> > Could you also let me know what kind of joystick you are using, and how
> >> > exactly you are running the joy_node (exact command line arguments or
> >> > launch file). Have you also verified whether the node is outputting any
> >> > messages?
> >> >
> >> > Failure to repeat is an annoyance for any users of the node so I want to
> >> > track this one down (it also seems like a better option than having you
> >> > write your own node).
> >> >
> >> > Thanks,
> >> > Blaise
> >> >
> >> > On Thu, 2010-04-15 at 16:55 -0700, Patrick Bouffard wrote:
> >> >> I was just now in the process of doing that.. The biggest I've seen is
> >> >> about 3 seconds. They tend to be relatively infrequent but frequent
> >> >> enough that they will be troublesome for my application. Here's an
> >> >> example output, this is with autorepeat_rate set to 5 Hz:
> >> >> http://pastebin.org/152943
> >> >>
> >> >> I may take a quick try at writing a pure python node for the joystick
> >> >> using pygame as I'm familiar with that and had no issues with it using
> >> >> the same hardware. I'll let everyone know how that goes.
> >> >>
> >> >> Pat
> >> >>
> >> >> On Thu, Apr 15, 2010 at 4:43 PM, Blaise Gassend <blaise at willowgarage.com> wrote:
> >> >> > Try rostopic hz or rostopic echo to see if you are getting any gaps on
> >> >> > the /joy topic. How big are the gaps you are seeing?
> >> >> >
> >> >> > On Thu, 2010-04-15 at 12:12 -0700, Patrick Bouffard wrote:
> >> >> >> Thanks all for the responses, that gives me a few things to try.
> >> >> >>
> >> >> >> Regarding the joystick: I'm using joy_node from the joy package, and
> >> >> >> setting the autorepeat_rate parameter, so I should be getting a steady
> >> >> >> stream of joy messages, which I mostly do but sometimes there is a
> >> >> >> long gap. My suspicion is that it's my code that is to blame for that
> >> >> >> though.
> >> >> >>
> >> >> >> I'll hack on this a bit more and report back..
> >> >> >>
> >> >> >> Cheers,
> >> >> >> Pat
> >> >> >>
> >> >> >> On Thu, Apr 15, 2010 at 10:59 AM, Blaise Gassend
> >> >> >> <blaise at willowgarage.com> wrote:
> >> >> >> >> Rospy replaces the signal handler for SIGINT.  A running loop in your
> >> >> >> >> main thread will no longer be interrupted with a KeyboardInterrupt.
> >> >> >> >> Instead you should check rospy.is_shutdown() as a condition of your
> >> >> >> >> loop.
> >> >> >> >
> >> >> >> > Also, if you are using threads, SIGINT will only kill one of them even
> >> >> >> > without rospy. You have to make sure that each thread exits after a
> >> >> >> > KeyboardInterrupt (or after rospy.is_shutdown() goes true in the case of
> >> >> >> > rospy).
> >> >> >> >
> >> >> >> >
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