fix stop check indentations

UHHRobotics22-23 · Oct 17, 2023 · 4720ff7 · 4720ff7
1 parent 0f312c8
commit 4720ff7
Showing 1 changed file with 14 additions and 16 deletions.
diff --git a/marimbabot_behavior/src/marimbabot_behavior/behavior_node.py b/marimbabot_behavior/src/marimbabot_behavior/behavior_node.py
@@ -319,22 +319,20 @@ def callback_command(self, command_msg):
                 self.response_pub.publish('No notes recognized.')
 
         elif command_msg.behavior == "stop":
-                rospy.logdebug('Aborting play.')
-                # stop any running threads by setting the event
-                self.event.set()
-
-                # check if the planning action server is currently active
-                if self.planning_client.simple_state == actionlib.SimpleGoalState.ACTIVE:
-                    # cancel the goal of the planning action server
-                    self.planning_client.cancel_goal()
-
-                # check if the lilypond_audio action server is currently active
-                if self.lilypond_audio_client.simple_state == actionlib.SimpleGoalState.ACTIVE:
-                    # cancel the goal of the lilypond_audio action server
-                    self.lilypond_audio_client.cancel_goal()
-
-                # send an empty message to the soundplay node to stop any audio preview (or TTS)
-                self.response_pub.publish('')
+            rospy.logdebug('Aborting play.')
+            # stop any running threads by setting the event
+            self.event.set()
+            # check if the planning action server is currently active
+            if self.planning_client.simple_state == actionlib.SimpleGoalState.ACTIVE:
+                # cancel the goal of the planning action server
+                self.planning_client.cancel_goal()
+            # check if the lilypond_audio action server is currently active
+            if self.lilypond_audio_client.simple_state == actionlib.SimpleGoalState.ACTIVE:
+                # cancel the goal of the lilypond_audio action server
+                self.lilypond_audio_client.cancel_goal()
+
+            # send an empty message to the soundplay node to stop any audio preview (or TTS)
+            self.response_pub.publish('')
 
         else:
             # check if a note sequence has been read via the 'read' command