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simple_gui: All Ctrl+C to kill program (for roslaunch)

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This commit is contained in:
Eric Cousineau 2021-06-25 18:35:11 -04:00
parent 5be1497958
commit cb2e298086
1 changed files with 11 additions and 3 deletions
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12
scripts/simple_gui.py
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@ -52,7 +52,7 @@ class Window:
tk.Button(self.frmLB,text="夹爪(关)",command=self.gripper_close,width=5).grid(row=1, column=1, sticky="w", padx=3, pady=2) tk.Button(self.frmLB,text="夹爪(关)",command=self.gripper_close,width=5).grid(row=1, column=1, sticky="w", padx=3, pady=2)
def connect_ser(self): def connect_ser(self):
rospy.init_node('simple_gui', anonymous=True) rospy.init_node('simple_gui', anonymous=True, disable_signals=True)
rospy.wait_for_service('get_joint_angles') rospy.wait_for_service('get_joint_angles')
rospy.wait_for_service('set_joint_angles') rospy.wait_for_service('set_joint_angles')
@ -338,7 +338,15 @@ class Window:
j.set(str(i)+"°") j.set(str(i)+"°")
def run(self): def run(self):
self.win.mainloop() while True:
try:
self.win.update()
time.sleep(0.001)
except tk.TclError as e:
if "application has been destroyed" in str(e):
break
else:
raise
def main(): def main():
window = tk.Tk() window = tk.Tk()