From b35c4452141da8c2e7a1920553551412ae0f5aaf Mon Sep 17 00:00:00 2001 From: acki Date: Wed, 12 Nov 2025 18:33:29 +0100 Subject: [PATCH] launch file ROS2 --- src/modelec_core/launch/modelec.launch.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modelec_core/launch/modelec.launch.py b/src/modelec_core/launch/modelec.launch.py index bbad77b..00be8b6 100644 --- a/src/modelec_core/launch/modelec.launch.py +++ b/src/modelec_core/launch/modelec.launch.py @@ -41,15 +41,15 @@ def generate_launch_description(): output='screen' ) - # Register a restart handler that re-creates both node + handler + # Instead of recursion at definition time, we delay the re-creation using a lambda restart_handler = RegisterEventHandler( OnProcessExit( target_action=lidar_node, on_exit=[ - LogInfo(msg="[Launch] RPLIDAR crashed — restarting in 2s..."), + LogInfo(msg='[Launch] RPLIDAR crashed — restarting in 2s...'), TimerAction( period=2.0, - actions=create_lidar_with_restart() # recursive: spawns new node + handler + actions=[OpaqueFunction(function=lambda *_: create_lidar_with_restart())] ) ] )