ellensohn/rmp220_middleware
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This commit is contained in:
Björn Ellensohn 2023-08-18 10:39:52 +02:00
parent e19ed5dd92
commit 6242c59ee9
1 changed files with 6 additions and 5 deletions
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11
rmp220_middleware/rmp220_middleware.py
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@ -61,13 +61,11 @@ class StateMachineNode(Node):
start_button = msg.buttons[7] # Joystick button 'start' start_button = msg.buttons[7] # Joystick button 'start'
select_button = msg.buttons[6] # Joystick button 'select' select_button = msg.buttons[6] # Joystick button 'select'
# if self.state == State.DISABLED and msg.buttons[7] == 1: if start_button == 1:
if start_button == 1: # Joystick button 'start'
self.state = State.ENABLED 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 self.state == State.ENABLED and msg.buttons[6] == 1: # Joystick button 'select' if select_button == 1:
if select_button == 1: # Joystick button 'select'
self.state = State.DISABLED self.state = State.DISABLED
self.get_logger().info("State: DISABLED (Button 'select')") self.get_logger().info("State: DISABLED (Button 'select')")
self.disable_chassis() self.disable_chassis()
@ -75,10 +73,13 @@ class StateMachineNode(Node):
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.
self.latest_cmd_vel = msg self.latest_cmd_vel = msg
# Will also derive the absolute values of the linear and angular velocity
self.abs_x = abs(msg.linear.x) self.abs_x = abs(msg.linear.x)
self.abs_z = abs(msg.angular.z) self.abs_z = abs(msg.angular.z)
self.timeout = 20.0 # Reset timeout when receiving commands # Reset timeout when receiving commands
self.timeout = 20.0
def timer_callback(self): def timer_callback(self):
if self.state == State.ENABLED: if self.state == State.ENABLED: