From 117899690923c47a2140f1bb276f1c92ecabf8fc Mon Sep 17 00:00:00 2001
From: Nimesh Khandelwal <nimesh6798@gmail.com>
Date: Mon, 18 Mar 2024 15:59:30 -0400
Subject: [PATCH] stopped subscribing to joint_state topic.

---
 deploy/robot_ws/src/go2py_node/src/bridge.cpp | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/deploy/robot_ws/src/go2py_node/src/bridge.cpp b/deploy/robot_ws/src/go2py_node/src/bridge.cpp
index e2f51fe..2c7e39b 100644
--- a/deploy/robot_ws/src/go2py_node/src/bridge.cpp
+++ b/deploy/robot_ws/src/go2py_node/src/bridge.cpp
@@ -55,11 +55,11 @@ class Custom: public rclcpp::Node
             lowcmd_suber = this->create_subscription<unitree_go::msg::Go2pyLowCmd>(
             "/go2/lowcmd", 1, std::bind(&Custom::lowcmd_callback, this, std::placeholders::_1));
 
-            joint_cmd_suber = this->create_subscription<sensor_msgs::msg::JointState>(
-                "/go2/joint_cmd",
-                1,
-                std::bind(&Custom::joint_cmd_callback, this, std::placeholders::_1)
-            );
+            // joint_cmd_suber = this->create_subscription<sensor_msgs::msg::JointState>(
+            //     "/go2/joint_cmd",
+            //     1,
+            //     std::bind(&Custom::joint_cmd_callback, this, std::placeholders::_1)
+            // );
 
             lowcmd_puber = this->create_publisher<unitree_go::msg::LowCmd>("/lowcmd", 10);