From 3cb0e3c0b2079595e7660441b112e0ae6fd536d3 Mon Sep 17 00:00:00 2001
From: Emil Harlan <eharlan@uni-bremen.de>
Date: Thu, 1 Jun 2023 10:34:26 +0200
Subject: [PATCH] a
---
robomaster_pi/conn_vel.py | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/robomaster_pi/conn_vel.py b/robomaster_pi/conn_vel.py
index 1aa880d..54d1875 100644
--- a/robomaster_pi/conn_vel.py
+++ b/robomaster_pi/conn_vel.py
@@ -9,6 +9,7 @@ from tf2_ros import TransformBroadcaster
from geometry_msgs.msg import TransformStamped
from geometry_msgs.msg import Twist
from tf2_ros import TransformBroadcaster
+import os
from rclpy.node import Node
@@ -53,8 +54,10 @@ class vel_from_ros_node(Node):
Twist, "/cmd_vel", self.pose_callback, 10)
def pose_callback(self, msg: Twist):
+ hostname = "192.168.1.1"
+ response = os.system("ping -c 1 " + hostname)
- if(msg.angular.z == 0.0 and msg.linear.x == 0.0 and msg.linear.y == 0.0):
+ if((msg.angular.z == 0.0 and msg.linear.x == 0.0 and msg.linear.y == 0.0) or response != 0):
self.my_ep_chassis.drive_speed(x = 0, y = 0, z = 0.5)
else:
self.my_ep_chassis.drive_speed(x = msg.linear.x, y = -msg.linear.y, z = -msg.angular.z * (180 / math.pi))
--
GitLab