new executor

Author: sWintermoor

src/bitbots_rl_walk/bitbots_rl_walk/forward_kick.py

@@ -22,14 +22,17 @@
 import onnxruntime as rt
 from ament_index_python import get_package_share_directory
 from geometry_msgs.msg import PoseStamped, Twist
+from rclpy.experimental.events_executor import EventsExecutor
 from rclpy.node import Node
 from sensor_msgs.msg import Imu, JointState
 from transforms3d.euler import euler2mat
 from transforms3d.quaternions import quat2mat
 
 from bitbots_msgs.msg import JointCommand
 
-ONNX_MODEL = os.path.join(get_package_share_directory("bitbots_rl_walk"), "models", "wolfgang_forward_kick_better_ball_ppo.onnx")
+ONNX_MODEL = os.path.join(
+    get_package_share_directory("bitbots_rl_walk"), "models", "wolfgang_forward_kick_better_ball_ppo.onnx"
+)
 
 WALKREADY_STATE = np.array(
     [
@@ -198,7 +201,7 @@ def _timer_callback(self):
 
         phase = np.array([np.cos(self._phase), np.sin(self._phase)], dtype=np.float32).flatten()
 
-        command = np.array([self._cmd_vel.linear.x, self._cmd_vel.linear.y, self._cmd_vel.angular.z], dtype=np.float32)
+        # command = np.array([self._cmd_vel.linear.x, self._cmd_vel.linear.y, self._cmd_vel.angular.z], dtype=np.float32)
 
         rel_ball_pos = np.array(
             [
@@ -212,7 +215,7 @@ def _timer_callback(self):
             [
                 gyro,  # 3
                 gravity,  # 4
-                command,  # 3
+                # command,  # 3
                 joint_angles,  # 18
                 joint_velocities,  # 18
                 self._previous_action,  # 18  # Previous action
@@ -246,6 +249,11 @@ def main():
 
     rclpy.init()
     node = KickNode()
-    rclpy.spin(node)
+    executor = EventsExecutor()
+    executor.add_node(node)
+    try:
+        executor.spin(node)
+    except KeyboardInterrupt:
+        pass
+
     node.destroy_node()
-    rclpy.try_shutdown()