a

robomaster_pi/conn_vel.py

@@ -2,7 +2,7 @@ import robomaster
 from robomaster import robot
 import math
 import time
-from threading import Timer
+from threading 
 import numpy as np
 import rclpy
 from rclpy.node import Node
@@ -21,10 +21,13 @@ import socket
 class vel_from_ros_node(Node):
     def __init__(self, my_ep_chassis):
 
+        threading.Timer(1, self.check_connection)
+
         super().__init__("vel_from_ros")
         self.hostname = "192.168.1.77"
         self.response = False
-        Timer(1, self.check_connection)
+        self.timer = threading.Timer(1, self.check_connection)
+        self.timer.start()
         self.my_ep_chassis = my_ep_chassis
         self.get_vel_from_ros_ = self.create_subscription(Twist, "/cmd_vel", self.pose_callback, 10)