ellensohn/rmp220_middleware
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Björn Ellensohn 2023-08-22 17:49:40 +02:00
parent e72ecc9ec6
commit 7486acf14e
1 changed files with 1 additions and 1 deletions
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rmp220_middleware/rmp220_middleware.py
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@ -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()