From 3ce5c2447c1010eec4c6e12cd30de0c41acfce72 Mon Sep 17 00:00:00 2001
From: Takuji Kawata <takuji.kawata@gmail.com>
Date: Sun, 20 Aug 2017 21:49:38 +0900
Subject: [PATCH] Fixed topic_sensor3.py

variable 'angle' is referenced as local variable, so main function don't get the updated value. Make the variable as global to reference the same from main and save_value function.
---
 code/stuff/topic_sensor3.py | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/code/stuff/topic_sensor3.py b/code/stuff/topic_sensor3.py
index fd2fc02..aef4076 100644
--- a/code/stuff/topic_sensor3.py
+++ b/code/stuff/topic_sensor3.py
@@ -16,6 +16,7 @@ def make_quaternion(angle):
     return Quaternion(*q)
 
 def save_value(value):
+    global angle
     with lock: # <1>
         angle = value * 2 * pi / 100.0 # <2>
     
@@ -30,6 +31,7 @@ def save_value(value):
 
     pub = rospy.Publisher('angle', Quaternion, queue_size=10) 
 
+    global angle
     angle = None # <4>
     rate = rospy.Rate(10.0)
     while not rospy.is_shutdown():