From bc77081e0ed66588676fcb74518b75306600921f Mon Sep 17 00:00:00 2001
From: eharlan <eharlan@uni-bremen.de>
Date: Mon, 22 May 2023 10:23:14 +0200
Subject: [PATCH] a
---
robomaster_pi/Odom.py | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/robomaster_pi/Odom.py b/robomaster_pi/Odom.py
index 90119d1..6067ab3 100644
--- a/robomaster_pi/Odom.py
+++ b/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
--
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