ellensohn/rmp220_middleware
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changes in operation: testing

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Björn Ellensohn 2023-08-22 10:21:15 +02:00
parent 6aa2e7a101
commit 1f2f0d7bf9
1 changed files with 1 additions and 1 deletions
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rmp220_middleware/rmp220_middleware.py
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@ -142,7 +142,7 @@ class StateMachineNode(Node):
self.timeout -= 0.01 self.timeout -= 0.01
self.cmd_vel_pub.publish(self.latest_cmd_vel) 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.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.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()