Remove setup.py and minor lifecycle callback changes

Signed-off-by: Christopher Strøm <[email protected]>
vortexntnu · Aug 8, 2024 · a7b6cdd · a7b6cdd
1 parent 3ac0bc4
commit a7b6cdd
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Showing 5 changed files with 14 additions and 30 deletions.
diff --git a/mission/system_monitor/CMakeLists.txt b/mission/system_monitor/CMakeLists.txt
@@ -12,7 +12,7 @@ ament_python_install_package(${PROJECT_NAME})
 
 # Install Python executables
 install(PROGRAMS
-  scripts/system_monitor_node.py
+  system_monitor/system_monitor_node.py
   DESTINATION lib/${PROJECT_NAME}
 )
 
@@ -23,4 +23,12 @@ install(DIRECTORY
   DESTINATION share/${PROJECT_NAME}
 )
 
+# Install the package.xml file
+install(FILES package.xml DESTINATION share/${PROJECT_NAME})
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
 ament_package()
diff --git a/mission/system_monitor/package.xml b/mission/system_monitor/package.xml
@@ -8,6 +8,7 @@
   <license>TODO: License declaration</license>
 
   <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>ament_cmake_python</buildtool_depend>
 
   <exec_depend>launch_ros</exec_depend>
   <exec_depend>launch</exec_depend>
@@ -16,6 +17,7 @@
 
   <test_depend>ament_lint_auto</test_depend>
   <test_depend>ament_lint_common</test_depend>
+
 
   <export>
     <build_type>ament_cmake</build_type>

diff --git a/mission/system_monitor/setup.py b/mission/system_monitor/setup.py
diff --git a/...em_monitor/scripts/system_monitor_node.py → ...tor/system_monitor/system_monitor_node.py b/...em_monitor/scripts/system_monitor_node.py → ...tor/system_monitor/system_monitor_node.py
diff --git a/motion/thruster_allocator/src/allocator_ros.cpp b/motion/thruster_allocator/src/allocator_ros.cpp
@@ -68,16 +68,16 @@ ThrusterAllocator::on_deactivate(const rclcpp_lifecycle::State &) {
 
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 ThrusterAllocator::on_cleanup(const rclcpp_lifecycle::State &) {
-  thruster_forces_publisher_.reset();
-  wrench_subscriber_.reset();
-  calculate_thrust_timer_.reset();
   RCLCPP_INFO(get_logger(), "Thruster allocator cleaned up");
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::
       CallbackReturn::SUCCESS;
 }
 
 rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn
 ThrusterAllocator::on_shutdown(const rclcpp_lifecycle::State &) {
+  thruster_forces_publisher_.reset();
+  wrench_subscriber_.reset();
+  calculate_thrust_timer_.reset();
   RCLCPP_INFO(get_logger(), "Thruster allocator shutting down");
   return rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::
       CallbackReturn::SUCCESS;