ellensohn/rmp220_middleware
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Update rmp220_middleware.py

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bjoernellens1 2025-01-16 13:13:22 +01:00 committed by GitHub
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commit 1ce84a813d
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rmp220_middleware/rmp220_middleware.py
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@ -46,6 +46,29 @@ class StateMachineNode:
# Timer for periodic updates
self.timer = rospy.Timer(rospy.Duration(0.01), self.timer_callback) # 100 Hz
def chassis_mode_callback(self, msg):
"""
Callback function for handling the chassis mode feedback.
Sets the state of the robot based on the chassis mode.
"""
if self.state == State.PAUSED:
return
if msg.chassis_mode == 0:
self.state = State.DISABLED
rospy.loginfo('Set chassis_mode to DISABLED')
elif msg.chassis_mode == 1:
self.state = State.ENABLED
rospy.loginfo('Set chassis_mode to ENABLED')
elif msg.chassis_mode == 2:
self.state = State.PASSIVE
rospy.loginfo('Set chassis_mode to PASSIVE')
elif msg.chassis_mode == 3:
self.state = State.STOPPED
rospy.loginfo('Set chassis_mode to STOPPED')
def enable_chassis(self):
if self.chassis_enable_client:
try: