start actionserver after initialize in soundplay_node.py

nyxrobotics · Jul 16, 2021 · 023ca9a · 023ca9a
1 parent 4f51ea7
commit 023ca9a
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/sound_play/scripts/soundplay_node.py b/sound_play/scripts/soundplay_node.py
@@ -440,7 +440,6 @@ def __init__(self):
         self.mutex = threading.Lock()
         sub = rospy.Subscriber("robotsound", SoundRequest, self.callback)
         self._as = actionlib.SimpleActionServer('sound_play', SoundRequestAction, execute_cb=self.execute_cb, auto_start = False)
-        self._as.start()
 
         self.mutex.acquire()
         self.sleep(0.5) # For ros startup race condition
@@ -452,6 +451,8 @@ def __init__(self):
                 self.no_error = True
                 self.initialized = True
                 self.mutex.release()
+                if not self._as.action_server.started:
+                    self._as.start()
                 try:
                     self.idle_loop()
                     # Returns after inactive period to test device availability