From 5993abf6290cea4497ae14919bf5946ba3ffc39e Mon Sep 17 00:00:00 2001 From: Luke Date: Mon, 19 Aug 2024 13:14:56 +0100 Subject: [PATCH] Tell Spot to stop on timeout (#151) --- spot_driver/src/spot_driver/spot_ros.py | 1 + 1 file changed, 1 insertion(+) diff --git a/spot_driver/src/spot_driver/spot_ros.py b/spot_driver/src/spot_driver/spot_ros.py index 32175dd2..ba3e8688 100644 --- a/spot_driver/src/spot_driver/spot_ros.py +++ b/spot_driver/src/spot_driver/spot_ros.py @@ -977,6 +977,7 @@ def handle_trajectory(self, req: TrajectoryGoal): ) def timeout_cb(trajectory_server, _): + self.spot_wrapper.stop() trajectory_server.publish_feedback( TrajectoryFeedback("Failed to reach goal, timed out") )