fixed tiiming issue in ai config script

nepi-engine · Apr 4, 2024 · 753eadd · 753eadd
1 parent 5c0c63f
commit 753eadd
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Showing 2 changed files with 19 additions and 16 deletions.
diff --git a/ai_detector_config_script.py b/ai_detector_config_script.py
@@ -65,6 +65,7 @@ def __init__(self):
     rospy.loginfo("Found topic: " + image_topic)
     self.classifier_selection = ClassifierSelection(img_topic=image_topic, classifier=DETECTION_MODEL, detection_threshold=DETECTION_THRESHOLD)
     ## Start Node Processes
+    nepi.sleep(1,10)
     rospy.loginfo("Starting object detector: " + str(self.start_classifier_pub.name))
     self.start_classifier_pub.publish(self.classifier_selection)
     ## Initiation Complete

diff --git a/drone_inspection_demo_mission_script.py b/drone_inspection_demo_mission_script.py
@@ -200,22 +200,24 @@ def cleanup_actions(self):
   node_class = eval(node_name)
   node = node_class()
 
-  #########################################
-  # Run Pre-Mission Custom Actions
-  print("Starting Pre-goto Actions")
-  success = node.pre_mission_actions()
-  #########################################
-  # Start Mission
-  #########################################
-  # Send goto Location Command
-  print("Starting Mission Processes")
-  success = node.mission()
-  #########################################
-  # End Mission
-  #########################################
-  # Run Post-Mission Actions
-  print("Starting Post-Goto Actions")
-  success = node.post_mission_actions()
+  while not rospy.is_shutdown():
+    #########################################
+    # Run Pre-Mission Custom Actions
+    print("Starting Pre-goto Actions")
+    success = node.pre_mission_actions()
+    #########################################
+    # Start Mission
+    #########################################
+    # Send goto Location Command
+    print("Starting Mission Processes")
+    success = node.mission()
+    #########################################
+    # End Mission
+    #########################################
+    # Run Post-Mission Actions
+    print("Starting Post-Goto Actions")
+    success = node.post_mission_actions()
+    nepi.sleep(10,100)
   #########################################
   # Mission Complete, Shutting Down
   rospy.signal_shutdown("Mission Complete, Shutting Down")