From d31d81b7c33cb9cb7f443f32a7a775f95d2b3e42 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Tue, 22 Aug 2023 09:24:15 +0200 Subject: [PATCH] changes in operation: testing --- 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 af0b388..8d54cdc 100644 --- a/rmp220_middleware/rmp220_middleware.py +++ b/rmp220_middleware/rmp220_middleware.py @@ -139,8 +139,8 @@ class StateMachineNode(Node): self.state = State.ENABLED self.get_logger().info("State: ENABLED (cmd_vel)") self.enable_chassis() - # if self.state == State.PAUSED and (self.abs_x < 0.1 and self.abs_z < 0.1): # Is this even necessary? - # self.cmd_vel_pub.publish(self.twist) + if self.state == State.PAUSED and (self.abs_x < 0.1 and self.abs_z < 0.1): # Is this even necessary? + self.cmd_vel_pub.publish(self.twist) def main(args=None): rclpy.init(args=args)