From b5840c52e5884861464b694b8e8613b6ab0c6d3b Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Mon, 14 Aug 2023 12:52:22 +0200 Subject: [PATCH] works but needs improvement --- rmp220_middleware/rmp220_middleware.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rmp220_middleware/rmp220_middleware.py b/rmp220_middleware/rmp220_middleware.py index 30bb58b..0c61250 100644 --- a/rmp220_middleware/rmp220_middleware.py +++ b/rmp220_middleware/rmp220_middleware.py @@ -76,7 +76,7 @@ class StateMachineNode(Node): self.disable_chassis() def cmd_vel_callback(self, msg): - if self.state == State.ENABLED: + if self.state == State.ENABLED and (msg.linear.x <= 0.03 or msg.angular.z <= 0.03): self.cmd_vel_pub.publish(msg) self.timeout = 20.0 # Reset timeout when receiving commands 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.timeout = 10.0 # Reset timeout when receiving commands - if msg.linear.x < 0.3 or msg.angular.z < 0.3: + if msg.linear.x < 0.03 or msg.angular.z < 0.03: self.latest_cmd_vel = msg else: self.latest_cmd_vel = Twist()