Merge pull request #391 from IMRCLab/issue390

Fix frequent crashes of figure8 example
IMRCLab · Dec 21, 2023 · 8ba970f · 8ba970f
2 parents 9db8360 + e954bc8
commit 8ba970f
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/crazyflie/deps/crazyflie_tools b/crazyflie/deps/crazyflie_tools
diff --git a/crazyflie_py/crazyflie_py/crazyflie.py b/crazyflie_py/crazyflie_py/crazyflie.py
@@ -389,7 +389,11 @@ def uploadTrajectory(self, trajectoryId, pieceOffset, trajectory):
         req.trajectory_id = trajectoryId
         req.piece_offset = pieceOffset
         req.pieces = pieces
-        self.uploadTrajectoryService.call_async(req)
+        future = self.uploadTrajectoryService.call_async(req)
+        while rclpy.ok():
+            rclpy.spin_once(self.node)
+            if future.done():
+                break
 
     def startTrajectory(self, trajectoryId,
                         timescale=1.0, reverse=False,