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Drone: Make base client loop to thread

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Arthur Golubtsov
2020-06-01 10:31:29 +03:00
parent 8e7ee15da9
commit b8f6210bba
1 changed files with 6 additions and 1 deletions
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7
Drone/copter_client.py
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@@ -137,7 +137,10 @@ class CopterClient(client.Client):
self.start_floor_frame_broadcast()
elif self.config.copter_frame_id == "gps":
self.start_gps_frame_broadcast()
super(CopterClient, self).start()
client_thread = threading.Thread(target=super(CopterClient, self).start, name="Client thread")
client_thread.daemon = True
client_thread.start()
#super(CopterClient, self).start()
def start_floor_frame_broadcast(self):
if self.config.floor_frame_parent == "gps":
@@ -1009,3 +1012,5 @@ if __name__ == "__main__":
observer.daemon = True
observer.start()
copter.start(task_manager)
while not rospy.is_shutdown():
rospy.sleep(0.1)