ellensohn/rmp220_middleware
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works but needs improvement

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Björn Ellensohn 2023-08-14 12:56:19 +02:00
parent 6c5ca6144c
commit a4c0f9c0e4
1 changed files with 2 additions and 2 deletions
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rmp220_middleware/rmp220_middleware.py
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@ -76,7 +76,7 @@ class StateMachineNode(Node):
self.disable_chassis() self.disable_chassis()
def cmd_vel_callback(self, msg): def cmd_vel_callback(self, msg):
if self.state == State.ENABLED and (msg.linear.x >= 0.03 or msg.angular.z >= 0.03): if self.state == State.ENABLED and (abs(msg.linear.x) >= 0.03 or abs(msg.angular.z) >= 0.03):
self.cmd_vel_pub.publish(msg) self.cmd_vel_pub.publish(msg)
self.timeout = 20.0 # Reset timeout when receiving commands self.timeout = 20.0 # Reset timeout when receiving commands
if msg.linear.x == 0.0 and msg.angular.z == 0.0: if msg.linear.x == 0.0 and msg.angular.z == 0.0:
@ -92,7 +92,7 @@ class StateMachineNode(Node):
self.cmd_vel_pub.publish(msg) self.cmd_vel_pub.publish(msg)
self.timeout = 10.0 # Reset timeout when receiving commands self.timeout = 10.0 # Reset timeout when receiving commands
if msg.linear.x > 0.03 or msg.angular.z > 0.03: if abs(msg.linear.x) > 0.03 or abs(msg.angular.z) > 0.03:
self.latest_cmd_vel = msg self.latest_cmd_vel = msg
else: else:
self.latest_cmd_vel = Twist() self.latest_cmd_vel = Twist()