ellensohn/rmp220_middleware
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Your Name 2025-01-16 13:44:52 +01:00
parent f54826682b
commit 3de3c3f669
1 changed files with 8 additions and 7 deletions
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15
rmp220_middleware/rmp220_middleware_extended.py
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@ -64,11 +64,15 @@ class StateMachineNode:
self.joy_sub = rospy.Subscriber('/joy', Joy, self.joy_callback) self.joy_sub = rospy.Subscriber('/joy', Joy, self.joy_callback)
self.chassis_mode_sub = rospy.Subscriber('/chassis_mode_fb', ChassisModeFb, self.chassis_mode_callback) self.chassis_mode_sub = rospy.Subscriber('/chassis_mode_fb', ChassisModeFb, self.chassis_mode_callback)
# Service client initialization with a check # Initialize JoystickServiceCaller
self.chassis_enable_client = None # Ensure it's initialized to None self.joystick_service_caller = JoystickServiceCaller()
#None # Ensure it's initialized to None
try: try:
rospy.wait_for_service('set_chassis_enable', timeout=5) #rospy.wait_for_service('set_chassis_enable', timeout=5)
self.chassis_enable_client = rospy.ServiceProxy('set_chassis_enable', RosSetChassisEnableCmdSrv) # Service client initialization with a check
self.chassis_enable_client = self.joystick_service_caller.service_proxy
rospy.loginfo('Chassis enable service available.') rospy.loginfo('Chassis enable service available.')
except rospy.ROSException as e: except rospy.ROSException as e:
rospy.logerr(f"Failed to wait for 'set_chassis_enable' service: {e}") rospy.logerr(f"Failed to wait for 'set_chassis_enable' service: {e}")
@ -76,9 +80,6 @@ class StateMachineNode:
# Timer for periodic updates # Timer for periodic updates
self.timer = rospy.Timer(rospy.Duration(0.01), self.timer_callback) # 100 Hz self.timer = rospy.Timer(rospy.Duration(0.01), self.timer_callback) # 100 Hz
# Initialize JoystickServiceCaller
self.joystick_service_caller = JoystickServiceCaller()
def chassis_mode_callback(self, msg): def chassis_mode_callback(self, msg):
""" """
Callback function for handling the chassis mode feedback. Callback function for handling the chassis mode feedback.