a

robomaster_pi/robot_ros_odom.py

@@ -40,11 +40,12 @@ def quaternion_from_euler(ai, aj, ak):
 
 class Robomaster_odom(Node):
     def __init__(self, ep_chassis):
+        super().__init__("robomaster_odom")
         ep_chassis.sub_position(freq=10, callback=self.sub_position_handler)
     
 
     def sub_position_handler(position_info):
-        super().__init__("robomaster_odom")
+    
         tf_broadcaster = TransformBroadcaster()
         t = TransformStamped()
         t.header.stampep_chassis = time.get_clock().now().to_msg()
@@ -69,8 +70,8 @@ def main():
     ep_chassis = ep_robot.chassis
 
     rclpy.init()
-    node1 = Robomaster_odom(ep_chassis)
-    rclpy.spin(node1)
+    node = Robomaster_odom(ep_chassis)
+    rclpy.spin(node)
     rclpy.shutdown()
 
     ep_robot.close()
\ No newline at end of file