Hi, I am Howard Choi I am trying to raspberry pi with ubiquity robot however I have a serious problem wih error which raspi is shutdown automatically when I use ros such as rospy with GPIO setup.
here is code : I use ir sensor(obstacle avoidance sensor)
but When I connected monitor it is NOT shutdown but in screen there is poped up shutddown ui.
import RPi.GPIO as GPIO
from sensor_msgs.msg import JointState
rate = rospy.Rate(10) while not rospy.is_shutdown(): if not GPIO.input(boom_lt_er): rospy.loginfo("boom Left errors") elif not GPIO.input(boom_rt_er): rospy.loginfo("boom Right errors") else:pass rate.sleep()
if name == “main”:
rospy.init_node("u_177_test_relay_on_off") pub_error = rospy.Publisher("/sensor_indicator", JointState, queue_size=1) rospy.Subscriber("/relay_control",JointState, call_relay) GPIO.setmode(GPIO.BCM) GPIO.setwarnings(False) """ these relays use 5v in raspberry pi """ boom = 23 roller = 6 mainsail = 13 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) exec_sensor() rospy.spin() GPIO.cleanup()