ellensohn/rmp220_middleware
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diabled auto-enable

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This commit is contained in:
Björn Ellensohn 2023-08-16 09:22:54 +02:00
parent b0c31017a6
commit e74409a6f7
1 changed files with 4 additions and 4 deletions
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8
rmp220_middleware/rmp220_middleware.py
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@ -62,10 +62,10 @@ class StateMachineNode(Node):
self.get_logger().info('Disabling chassis...') self.get_logger().info('Disabling chassis...')
def joy_callback(self, msg): def joy_callback(self, msg):
if self.state == State.DISABLED and self.cmd_vel_sub is not None: # if self.state == State.DISABLED and self.cmd_vel_sub is not None:
self.state = State.ENABLED # self.state = State.ENABLED
self.get_logger().info("State: ENABLED (Joystick)") # self.get_logger().info("State: ENABLED (Joystick)")
self.enable_chassis() # self.enable_chassis()
if self.state == State.DISABLED and msg.buttons[7] == 1: # Joystick button 'start' if self.state == State.DISABLED and msg.buttons[7] == 1: # Joystick button 'start'
self.state = State.ENABLED self.state = State.ENABLED
self.get_logger().info("State: ENABLED (Button 'start')") self.get_logger().info("State: ENABLED (Button 'start')")