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changes in operation: testing

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This commit is contained in:
Björn Ellensohn 2023-08-22 10:25:57 +02:00
parent f588a72960
commit 1104c8024c
1 changed files with 19 additions and 16 deletions
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rmp220_middleware/rmp220_middleware.py
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@ -65,6 +65,9 @@ class StateMachineNode(Node):
self.get_logger().info('Got chassis_mode from chassis_mode_fb topic') self.get_logger().info('Got chassis_mode from chassis_mode_fb topic')
self.get_logger().info(str(msg.chassis_mode)) self.get_logger().info(str(msg.chassis_mode))
if self.state == State.PAUSED:
return
else:
if msg.chassis_mode == 0: if msg.chassis_mode == 0:
self.chassis_mode = State.DISABLED self.chassis_mode = State.DISABLED
self.state = State.DISABLED self.state = State.DISABLED