Tell Spot to stop on timeout (#151)

heuristicus · Aug 19, 2024 · 5993abf · 5993abf
1 parent b6994d2
commit 5993abf
Showing 1 changed file with 1 addition and 0 deletions.
diff --git 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")
             )