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Keep cameralauncher.py running when no cameras are configured #170

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Jul 21, 2020
Merged

Keep cameralauncher.py running when no cameras are configured #170

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12 changes: 12 additions & 0 deletions ros/src/fsds_ros_bridge/scripts/cameralauncher.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,8 @@
import roslaunch
from os.path import expanduser
import json
import signal
import sys

CAMERA_FRAMERATE = 30
AIRSIM_HOSTIP = "localhost"
Expand All @@ -17,6 +19,16 @@ def args(argsmap):
with open(expanduser("~")+'/Formula-Student-Driverless-Simulator/settings.json', 'r') as file:
settings = json.load(file)

if(len(settings['Vehicles']['FSCar']['Cameras']) == 0):
# when no camera's are available, ros launch would exit immediatly and thus failing.
# And this process failing will take down the parent launchfile as well.
# So we just let the process wait for a signal.
def signal_handler(sig, frame):
sys.exit(0)
signal.signal(signal.SIGINT, signal_handler)
print('No cameras to launch. Camera ros bridge launcher waiting for exit signal')
signal.pause()

launch = roslaunch.scriptapi.ROSLaunch()
launch.start()

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