a

robomaster_pi/conn_odom.py

@@ -52,7 +52,7 @@ class OdometryPublisher(Node):
         ep_robot = robot.Robot()
         ep_robot.initialize(conn_type="rndis")
         ep_chassis = ep_robot.chassis
-        ep_chassis.sub_position(freq=10, callback=publish_odometry)
+        ep_chassis.sub_position(freq=10, callback=publish_odometry(self))