From 7486acf14e78e9d2ae577ca7080c507bc69b5538 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Tue, 22 Aug 2023 17:49:40 +0200 Subject: [PATCH] update --- 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 cca8d9f..1cab2d1 100644 --- a/rmp220_middleware/rmp220_middleware.py +++ b/rmp220_middleware/rmp220_middleware.py @@ -133,7 +133,7 @@ class StateMachineNode(Node): else: self.timeout -= 0.01 # at a rate of 100 Hz this equals to -1 per second. self.cmd_vel_pub.publish(self.latest_cmd_vel) - 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 + if self.state == State.DISABLED and (self.abs_x > 0.02 or self.abs_z > 0.02): # 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()