From 836ce994b329d2598eb69e93ed67743c65bcfbef Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Tue, 22 Aug 2023 10:09:56 +0200 Subject: [PATCH] changes in operation: testing --- rmp220_middleware/rmp220_middleware.py | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/rmp220_middleware/rmp220_middleware.py b/rmp220_middleware/rmp220_middleware.py index a32e3fb..1702b09 100644 --- a/rmp220_middleware/rmp220_middleware.py +++ b/rmp220_middleware/rmp220_middleware.py @@ -68,15 +68,19 @@ class StateMachineNode(Node): if msg.chassis_mode == 0: self.chassis_mode = State.DISABLED self.state = State.DISABLED + self.get_logger().info('Set chassis_mode to DISABLED') if msg.chassis_mode == 1: # Assuming 1 represents enabled and 0 represents disabled self.chassis_mode = State.ENABLED self.state = State.ENABLED + self.get_logger().info('Set chassis_mode to ENABLED') if msg.chassis_mode == 2: self.chassis_mode = State.PASSIVE self.state = State.PASSIVE + self.get_logger().info('Set chassis_mode to PASSIVE') if msg.chassis_mode == 3: self.chassis_mode = State.STOPPED self.state = State.STOPPED + self.get_logger().info('Set chassis_mode to STOPPED') def get_chassis_mode(self): return self.chassis_mode