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changes in operation: testing

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Björn Ellensohn 2023-08-22 10:28:38 +02:00
parent 1104c8024c
commit 4df74b50a8
1 changed files with 1 additions and 3 deletions
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rmp220_middleware/rmp220_middleware.py
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@ -114,13 +114,11 @@ class StateMachineNode(Node):
select_button = msg.buttons[6] # Joystick button 'select' select_button = msg.buttons[6] # Joystick button 'select'
if start_button == 1: if start_button == 1:
self.state = State.ENABLED
self.get_logger().info("State: ENABLED (Button 'start')") self.get_logger().info("State: ENABLED (Button 'start')")
self.enable_chassis() self.enable_chassis()
if select_button == 1: if select_button == 1:
self.state = State.PAUSED
self.get_logger().info("State: DISABLED (Button 'select')") self.get_logger().info("State: DISABLED (Button 'select')")
self.disable_chassis() self.pause_chassis()
def cmd_vel_callback(self, msg): def cmd_vel_callback(self, msg):
# This method shall only update the latest_cmd_vel attribute so it can be republished by the timer_callback with 100 HZ. Should have a look at performance though. # This method shall only update the latest_cmd_vel attribute so it can be republished by the timer_callback with 100 HZ. Should have a look at performance though.