fixed create subscriber node

fkie_multimaster_pylib/fkie_multimaster_pylib/crossbar/base_session.py

@@ -136,12 +136,6 @@ def shutdown(self):
     def onConnect(self):
         Log.info(f"{self.__class__.__name__}: autobahn connected")
         self.join(self.config.realm)
-        for (topic, handler) in self._crossbar_subscriptions:
-            asyncio.run_coroutine_threadsafe(
-                self.subcribe_async(topic, handler), self.crossbar_loop)
-        for topic, msg in self._crossbar_failed_publications.items():
-            self.publish_to(topic, msg)
-        self._crossbar_failed_publications.clear()
 
     def onDisconnect(self):
         Log.info(f"{self.__class__.__name__}: autobahn disconnected")
@@ -165,6 +159,12 @@ def onJoin(self, details):
             for _session_id, reg in self._registrations.items():
                 Log.info(f"{self.__class__.__name__}:   {reg.procedure}")
         self.crossbar_registered = True
+        for (topic, handler) in self._crossbar_subscriptions:
+            asyncio.run_coroutine_threadsafe(
+                self.subcribe_async(topic, handler), self.crossbar_loop)
+        for topic, msg in self._crossbar_failed_publications.items():
+            self.publish_to(topic, msg)
+        self._crossbar_failed_publications.clear()
 
     async def crossbar_connect_async(self):
         self.crossbar_connected = False

fkie_node_manager_daemon/fkie_node_manager_daemon/subscriber_node.py

@@ -27,6 +27,7 @@
 import threading
 import time
 import traceback
+from importlib import import_module
 from types import SimpleNamespace
 from typing import Any
 from typing import Callable
@@ -152,9 +153,9 @@ def __init__(self, test_env=False):
         Log.set_ros2_logging_node(self.rosnode)
 
         Log.info(f"start subscriber for {self._topic}[{self._message_type}]")
-        splitted_type = self._message_type.replace('/', '.').split('.')
+        splitted_type = self._message_type.replace('/', '.').rsplit('.', 1)
         splitted_type.reverse()
-        module = __import__(splitted_type.pop())
+        module = import_module(splitted_type.pop())
         sub_class = getattr(module, splitted_type.pop())
         while splitted_type:
             sub_class = getattr(sub_class, splitted_type.pop())
@@ -199,7 +200,7 @@ def spin(self):
         self.sub.destroy()
         print('shutdown rclpy')
         self.executor.shutdown()
-        rclpy.shutdown()
+        # rclpy.shutdown()
         print('bye!')
 
     def _init_arg_parser(self) -> argparse.ArgumentParser: