x

Author: cobot

codebotler.py

@@ -325,10 +325,7 @@ def main():
   parser.add_argument('--timeout', type=int, help='Code generation timeout in seconds', default=20)
   parser.add_argument('--transcription-pipe', type=Path, help='Pipe from which to read audio transcriptions', default='/tmp/audio_pipe')
 
-  if ros_available:
-    args = parser.parse_args(rclpy_instance.utilities.remove_ros_args())
-  else:
-    args = parser.parse_args()
+  args = parser.parse_args()
 
   robot_available = args.robot
   code_timeout = args.timeout

robot_interface/src/robot_client_interface.py

@@ -64,17 +64,16 @@ def __init__(self):
         self.get_reachable_locations_around_object_client.wait_for_server()
         print("======= Connected to robot action servers =======")
 
-    @staticmethod
-    def _handle_client(client, goal, action_name):
+    def _handle_client(self, client, goal, action_name):
         goal_handle = client.send_goal_async(goal)
-        rclpy.spin_until_future_complete(None, goal_handle)
+        rclpy.spin_until_future_complete(self, goal_handle)
 
         goal_handle = goal_handle.result()
         if not goal_handle.accepted:
             raise Exception(f"{action_name}() goal was rejected!")
 
         result_future = goal_handle.get_result_async()
-        rclpy.spin_until_future_complete(None, result_future)
+        rclpy.spin_until_future_complete(self, result_future)
 
         result = result_future.result()
         if result.status == GoalStatus.STATUS_CANCELED: