a

robomaster_pi/Odom.py

@@ -15,9 +15,10 @@ class OdometryPublisher(Node):
         ep_robot.initialize(conn_type="rndis")
     
         ep_chassis = ep_robot.chassis
-        ep_chassis.sub_velocity(freq=50, callback=self.sub_velocity_handler)
+        
         ep_chassis.sub_attitude(freq=50, callback=self.sub_attitude_info_handler)
         ep_chassis.sub_position(freq=50, callback=self.sub_position_handler)
+        ep_chassis.sub_velocity(freq=50, callback=self.sub_velocity_handler)
 
 
     def sub_attitude_info_handler(self, attitude_info):
@@ -26,8 +27,7 @@ class OdometryPublisher(Node):
             
     def sub_position_handler(self, position_info):
         self.x, self.y, self.z = position_info
-        self.publish_odometry()
-        self.publish_transform()
+        
 
     def sub_velocity_handler(self, velocity_info):
         a, b, c, x, y, z = velocity_info