a

robomaster_pi/conn_odom.py

@@ -19,11 +19,11 @@ class OdometryPublisher(Node):
         self.transform_stamped_.child_frame_id = "base_footprint"
         ep_robot = robot.Robot()
         ep_robot.initialize(conn_type="rndis")
-        self.yaw = 0.0
     
         ep_chassis = ep_robot.chassis
-        ep_chassis.sub_position(freq=50, callback=self.sub_position_handler)
         ep_chassis.sub_attitude(freq=50, callback=self.sub_attitude_info_handler)
+        ep_chassis.sub_position(freq=50, callback=self.sub_position_handler)
+        
         
         
     def sub_attitude_info_handler(self, attitude_info):