Automatically closed by remote host

General Questions
1

when i do rosrun
it is closed by remote host but I have no idea
below code is very simple, and I check pin test, there is no error.

#!/usr/bin/env python
import rospy
import time
import RPi.GPIO as GPIO
from sensor_msgs.msg import JointState

class sensor_relay(object):

def __init__(self, num_relay, gpio_l):


    self.n_relay = num_relay

    self.motor_name = ['Boom', 'B_roller','MainSail']


    self.pub_error = rospy.Publisher("/sensor_indicator", JointState, queue_size=1)


    rospy.Subscriber("/relay_control",JointState, self.call_relay)

    self.relay_name_pin_num = {'Boom':gpio_l[0], 'B_roller':gpio_l[1],'MainSail':gpio_l[2]}

if name == “main”:

rospy.init_node("u177_relay_control")

GPIO.setmode(GPIO.BCM)
GPIO.setwarnings(False)

"""
these relays use 5v in raspberry pi

"""

boom = 26
roller = 6
mainsail = 13

gpio_list = [boom, roller, mainsail]



GPIO.setup(boom, GPIO.OUT)
GPIO.setup(roller, GPIO.OUT)
GPIO.setup(mainsail, GPIO.OUT)

"""
these sensors use 3.3v in raspberry pi

"""

boom_lt_er = 20
boom_rt_er = 21

GPIO.setup(boom_lt_er, GPIO.IN)
GPIO.setup(boom_rt_er, GPIO.IN)

roller_lt_er = 16
roller_rt_er = 12

GPIO.setup(roller_lt_er, GPIO.IN)
GPIO.setup(roller_rt_er, GPIO.IN)

num_of_relay = 3

try:

    sensor_relay(num_of_relay, gpio_list)

except rospy.ROSInterruptException:
    pass

rospy.spin()

GPIO.cleanup()
2

You are using GPIO pin 6, which is used for the shutdown button on Magni, as documented here: https://learn.ubiquityrobotics.com/GPIO_lines.

Please use a different GPIO line if possible. If you are not using a Magni, you can follow the instructions on that page to free up the pins used my Magni buttons and LEDs.

3

thanks alot have a good day

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