a

robomaster_pi/conn_odom.py

@@ -21,11 +21,11 @@ class OdometryPublisher(Node):
 
     def sub_position_handler(self, position_info):
         self.x, self.y, self.z = position_info
-        self.publish_odometry()
         print("ok")
+        self.publish_odometry()
 
     def publish_odometry(self):
-        print("ja")
+        
         q = self.quaternion_from_euler(0, 0, -self.z* math.pi/180)
         msg = Odometry()
         msg.header.stamp = self.get_clock().now().to_msg()
@@ -37,6 +37,7 @@ class OdometryPublisher(Node):
         msg.pose.pose.orientation.z = q[2]
         msg.pose.pose.orientation.w = 0
         self.publisher_.publish(msg)
+        print("ja")
 
     def quaternion_from_euler(self, ai, aj, ak):
         ai /= 2.0