Do periodic publishing on tkinter loop instead of ROS timer. #72
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The ROS `create_timer` call never actually gets driven, because the main loop is blocked on `self._root.mainloop()` at the end of `MouseTeleop.__init__`. This commit uses a Tkinter `after` call instead and lets the Tkinter invoke the publish function. Technically this will publish messages slightly less often than requested, because the function will be called every `period + execution_time`, but for a tool like this I think keeping the code simpler is more valuable.
This avoids an issue where, when the robot is being controlled by some other process such as a navigation stack, the mouse_teleop node would continue to publish commands with all zeroes, causing the robot to move very jerkily.
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I added commit 04195f3 which stops the publish loop when the mouse button is released. This takes care of a problem that I experienced where another process, such as a navigation stack, and the mouse_teleop node were fighting for control of the robot even when I wasn't trying to manually control the robot. |
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Just comment. I've faced the same issue and this PR completely fix my problem. Thank you. |
bmagyar
approved these changes
Sep 12, 2024
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The ROS
create_timercall never actually gets driven, because themain loop is blocked on
self._root.mainloop()at the end ofMouseTeleop.__init__. This commit uses a Tkinteraftercallinstead and lets the Tkinter invoke the publish function.
Technically this will publish messages slightly less often than
requested, because the function will be called every
period + execution_time,but for a tool like this I think keeping the code simpler is more valuable.