From 1f2f0d7bf9009c42f78f7d1094e0836755353a02 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Tue, 22 Aug 2023 10:21:15 +0200 Subject: [PATCH] changes in operation: testing --- rmp220_middleware/rmp220_middleware.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rmp220_middleware/rmp220_middleware.py b/rmp220_middleware/rmp220_middleware.py index 2c53288..60043b7 100644 --- a/rmp220_middleware/rmp220_middleware.py +++ b/rmp220_middleware/rmp220_middleware.py @@ -142,7 +142,7 @@ class StateMachineNode(Node): self.timeout -= 0.01 self.cmd_vel_pub.publish(self.latest_cmd_vel) #if self.state == State.PAUSED and (self.abs_x > 0.1 or self.abs_z > 0.1): # This is a hack to enable the chassis when receiving commands e.g. from Nav2 - if self.state == State.PAUSED and (self.abs_x > 0.1 or self.abs_z > 0.1): # This is a hack to enable the chassis when receiving commands e.g. from Nav2 + if self.state == State.DISABLED and (self.abs_x > 0.1 or self.abs_z > 0.1): # This is a hack to enable the chassis when receiving commands e.g. from Nav2 self.state = State.ENABLED self.get_logger().info("State: ENABLED (cmd_vel)") self.enable_chassis()