added thread locking and try excpet. also removed a relay inside of t…

…he localization launch file because that is now fixed with mapping

cart_control/launch/autoware_localization.launch

@@ -81,9 +81,6 @@
 
     <!-- Landmark to Waypoint Converter -->
     <node name="landmarks_to_waypoints" pkg="cart_planning" type="landmarks_to_waypoints.py"/>
-
-    <!-- Relay node, this is a temporary alternative to remapping the velodyne_points topic -->
-    <node name="relay" pkg="topic_tools" type="relay" args="/velodyne_points /points_raw"/>
 
     <!-- Throttle position messages so nodes that need positional updates dont't call to often -->
     <node name="throttle" pkg="topic_tools" type="throttle" args="messages /ndt_pose 60.0 /limited_pose"/>

cart_endpoints/scripts/network_node.py

@@ -2,6 +2,7 @@
 
 import socketio
 import time
+import threading
 import rospy
 import json
 import vlc
@@ -46,7 +47,12 @@ def disconnect():
     rospy.loginfo('disconnected from server')
 
 def send(msg, data):
-    sio.emit(msg, data, namespace='/cart')
+    server_lock.acquire()
+    try:
+        sio.emit(msg, data, namespace='/cart')
+    except:
+        rospy.loginfo('Was unable to send data to the server')
+    server_lock.release()
 
 @sio.on('cart_request', namespace='/cart')
 def on_cart_req(data):
@@ -240,16 +246,21 @@ def front_image_callback(img_msg):
 
 if __name__ == "__main__":
     rospy.init_node('network_node')
+    server_lock = threading.Lock()
 
-    rospy.loginfo("Attempting connection with socketio server")    
-    sio.connect('http://35.238.125.238:8020', namespaces=['/cart'])#172.30.167.135
+    try:
+        rospy.loginfo("Attempting connection with socketio server")    
+        sio.connect('http://35.238.125.238:8020', namespaces=['/cart'])#172.30.167.135
+    except:
+        rospy.loginfo('Was unable to connect to the server')
 
     stop_pub = rospy.Publisher('/emergency_stop', EmergencyStop, queue_size=10)
     req_pub = rospy.Publisher('/destination_request', String, queue_size=10)
     location_speech_pub = rospy.Publisher('/location_speech', Bool, queue_size=10)
     gps_request_pub = rospy.Publisher('/gps_request', LatLongPoint, queue_size=10)
     safety_constant_pub = rospy.Publisher('/safety_constant', Bool, queue_size=10)
     safety_exit_pub = rospy.Publisher('/safety_exit', Bool, queue_size=10)
+
 
     rospy.Subscriber('/zed/image_raw', Image, passenger_image_callback)
     rospy.Subscriber('/front_facing/image_raw', Image, front_image_callback)

cart_simulator/scripts/add_test_points.py

@@ -29,9 +29,6 @@ def __init__(self):
         #for i in range(100):
 
         self.waypoint_pub.publish(msg)
-            #rospy.sleep(.1)
-        #print msg
-        print "done"
 
         rospy.spin()