ellensohn/rmp220_middleware
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changes in operation: testing

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This commit is contained in:
Björn Ellensohn 2023-08-22 09:57:51 +02:00
parent 6a7087ec37
commit 0b57cbd437
1 changed files with 4 additions and 4 deletions
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8
rmp220_middleware/rmp220_middleware.py
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@ -124,8 +124,8 @@ class StateMachineNode(Node):
self.timeout = 20.0 self.timeout = 20.0
def timer_callback(self): def timer_callback(self):
# if self.chassis_mode == State.DISABLED or self.chassis_mode == State.STOPPED or self.chassis_mode == State.PASSIVE: if self.chassis_mode == State.DISABLED or self.chassis_mode == State.STOPPED or self.chassis_mode == State.PASSIVE:
# return # Do nothing if chassis is disabled, stopped or passive --> should save processing power return # Do nothing if chassis is disabled, stopped or passive --> should save processing power
if self.state == State.ENABLED: if self.state == State.ENABLED:
if self.timeout <= 0: if self.timeout <= 0:
self.state = State.PAUSED self.state = State.PAUSED
@ -139,8 +139,8 @@ class StateMachineNode(Node):
self.state = State.ENABLED self.state = State.ENABLED
self.get_logger().info("State: ENABLED (cmd_vel)") self.get_logger().info("State: ENABLED (cmd_vel)")
self.enable_chassis() self.enable_chassis()
if self.state == State.PAUSED and (self.abs_x < 0.1 and self.abs_z < 0.1): # Is this even necessary? # if self.state == State.PAUSED and (self.abs_x < 0.1 and self.abs_z < 0.1): # Is this even necessary?
self.cmd_vel_pub.publish(self.twist) # self.cmd_vel_pub.publish(self.twist)
def main(args=None): def main(args=None):
rclpy.init(args=args) rclpy.init(args=args)