From 9277a49a305213567dd63e354a130df74d535af4 Mon Sep 17 00:00:00 2001
From: lklimkiewicz7 <137408313+lklimkiewicz7@users.noreply.github.com>
Date: Thu, 22 Feb 2024 00:39:12 +0100
Subject: [PATCH] Fix double initialization problem in python api (#56)

Co-authored-by: lukeschmitt-tr <85308904+lukeschmitt-tr@users.noreply.github.com>
---
 .../interbotix_xs_modules/xs_robot/core.py                   | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/core.py b/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/core.py
index 282b4aa..c46e957 100644
--- a/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/core.py
+++ b/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/core.py
@@ -52,6 +52,7 @@
 from rclpy.logging import LoggingSeverity, set_logger_level
 from rclpy.node import Node
 from rclpy.task import Future
+from rclpy.utilities import ok
 from sensor_msgs.msg import JointState
 from trajectory_msgs.msg import JointTrajectory, JointTrajectoryPoint
 
@@ -93,7 +94,9 @@ def __init__(
         else:
             self.ns = f'/{self.robot_name}'
 
-        rclpy.init(args=args)
+        if not ok():
+            rclpy.init(args=args)
+
         super().__init__(node_name=self.node_name, namespace=robot_name)
         set_logger_level(self.node_name, logging_level)
         self.get_logger().debug((