Auto-Rotate blockiert Joystick-Parser während der Drehung

rosparam /auto_rotate_active pausiert joystick_parser_node komplett.
Modus-Wiederherstellung erst nach Erreichen der Zielposition.

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

scripts/auto_rotate_ros.py

@@ -79,6 +79,7 @@ def main():
 
     _publisher = rospy.Publisher('/rover_command', RoverCommand, queue_size=1)
     rospy.Subscriber('/imu/data', Imu, _on_imu, queue_size=1)
+    rospy.set_param('/auto_rotate_active', True)
 
     # Kurz warten bis IMU-Daten ankommen
     deadline = time.time() + 5.0
@@ -87,6 +88,7 @@ def main():
 
     if _heading is None:
         rospy.logerr('auto_rotate: keine IMU-Daten')
+        rospy.set_param('/auto_rotate_active', False)
         _publish(restore_mode, vel=0)
         sys.exit(1)
 
@@ -96,12 +98,11 @@ def main():
         error = _shortest_error(_heading, target_deg)
 
         if abs(error) <= _DONE_DEG:
+            rospy.set_param('/auto_rotate_active', False)
             _publish(restore_mode, vel=0)
             sys.exit(0)
 
-        # Richtung wie Joystick: immer positiver vel, steering ±180 für Richtung
-        # steering=0   → Linksdrehung (deg < 85)
-        # steering=180 → Rechtsdrehung (deg >= 85)
+        # Richtung wie Joystick: immer positiver vel, steering ±180 fuer Richtung
         if error > 0:
             _publish(_POINT_TURN, vel=_VEL, steering=0)
         else:
@@ -109,6 +110,7 @@ def main():
         rate.sleep()
 
     # Abbruch per Signal
+    rospy.set_param('/auto_rotate_active', False)
     _publish(restore_mode, vel=0)
     sys.exit(0)
 

src/joystick_parser_node.py

@@ -180,6 +180,9 @@ def callback(data):
     global last_webgui_time
     global last_locomotion_mode
 
+    if rospy.get_param('/auto_rotate_active', False):
+        return
+
     is_webgui = data.header.frame_id == "webgui"
     now = rospy.Time.now()