a

robomaster_pi/command_executer.py

@@ -9,21 +9,19 @@ class CommandExecutor(Node):
         super().__init__('command_executor')
         self.subscription = self.create_subscription(
             String,
-            'execute_command',
+            'launch_node',
             self.execute_command_callback,
             10
         )
         self.running_processes = {}  # Dictionary to store the running processes with custom names
 
     def execute_command_callback(self, msg):
-        command = msg.data.split()  # Split the received string into command and name
-        if command[0] == "kill":
-            self.kill_node(command[1])  # Call the kill_node method using 'self'
+        name, command = msg.data.split(" ", 1)  # Split the received string into command and name
+        if command == "kill":
+            self.kill_node(command)  # Call the kill_node method using 'self'
         else:
-            name = command[0]
-            launch_command = " ".join(command[1:])
             # Execute the launch command in a separate thread
-            threading.Thread(target=self.execute_command, args=(name, launch_command)).start()
+            threading.Thread(target=self.execute_command, args=(name, command)).start()
 
     def execute_command(self, name, launch_command):
         try:
@@ -40,8 +38,8 @@ class CommandExecutor(Node):
         if name in self.running_processes:
             try:
                 process_handle = self.running_processes[name]
-                process_handle.terminate()
-                process_handle.wait(timeout=1)
+                process_handle.send_signal(SIGINT)
+                process_handle.wait(timeout=30)
             except subprocess.TimeoutExpired:
                 process_handle.kill()
                 process_handle.wait()