From fa299cc83fd4bb0cb86a21e0ff42406feefab1ba Mon Sep 17 00:00:00 2001
From: yjinzero <yjinzero@gmail.com>
Date: Thu, 13 Feb 2025 22:01:39 +0900
Subject: [PATCH] reorg a bit

---
 deploy/deploy_real/state_pub.py | 7 ++++---
 1 file changed, 4 insertions(+), 3 deletions(-)

diff --git a/deploy/deploy_real/state_pub.py b/deploy/deploy_real/state_pub.py
index 602c49f..c966985 100644
--- a/deploy/deploy_real/state_pub.py
+++ b/deploy/deploy_real/state_pub.py
@@ -11,14 +11,12 @@ import yaml
 class StatePublisher(Node):
 
     def __init__(self):
-        rclpy.init()
         super().__init__('state_publisher')
         qos_profile = QoSProfile(depth=10)
 
         with open('./configs/ik.yaml', 'r') as fp:
             self.joint_names = yaml.safe_load(fp)['motor_joint']
 
-
         self.low_state = LowStateHG()
         self.low_state_subscriber = self.create_subscription(LowStateHG,
                     'lowstate', self.on_low_state, 10)
@@ -62,8 +60,11 @@ class StatePublisher(Node):
 
 
 def main():
+    rclpy.init()
     node = StatePublisher()
-    node.run()
+    rclpy.spin(node)
+    node.destroy_node()
+    rclpy.shutdown()
 
 if __name__ == '__main__':
     main()
\ No newline at end of file