How to kill object detection ROS node when end of svo file is reached?

hgutze · November 27, 2022, 10:38pm

In the standard settings the object detection ROS node is printing END OF SVO FILE IS REACHED in a loop when the .svo file has finished. What is the cleanest way to kill (shutdown) the ros node inside the c++ code when the end of the .svo file is reached?

Myzhar · November 28, 2022, 8:40am

Hi @hgutze
you must modify the code of the nodelet to stop the node when the EOF is reached:

github.com

stereolabs/zed-ros-wrapper/blob/master/zed_nodelets/src/zed_nodelet/src/zed_wrapper_nodelet.cpp#L3308


      
          }
          
          
std::chrono::steady_clock::time_point start_elab = std::chrono::steady_clock::now();
          
          
mCamDataMutex.lock();
          mRgbDepthDataRetrieved = false;
          mGrabStatus = mZed.grab(runParams);
          mCamDataMutex.unlock();
          
          
// cout << toString(grab_status) << endl;
          if (mGrabStatus != sl::ERROR_CODE::SUCCESS) {
              // Detect if a error occurred (for example:
              // the zed have been disconnected) and
              // re-initialize the ZED
          
          
    NODELET_INFO_STREAM_ONCE(toString(mGrabStatus));
          
          
    std::this_thread::sleep_for(std::chrono::milliseconds(1));
          
          
    if ((ros::Time::now() - mPrevFrameTimestamp).toSec() > 5 && !mSvoMode) {
                  mCloseZedMutex.lock();

hgutze · December 6, 2022, 2:16pm

thx for your reply! I tried to kill the node from where you said via ros::shutdown() but it seems that this kills just one process but not the entire node like via ctrl + C. Do you know what would be the equivalent to ctrl + C here inside the program? Thx again.

Myzhar · December 7, 2022, 9:36am

For this kind of question related to ROS, I suggest you search/ask on https://answers.ros.org/