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Go2Py_SIM
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stopped subscribing to joint_state topic.

This commit is contained in:
Nimesh Khandelwal 2024-03-18 15:59:30 -04:00
parent 41bec7c19d
commit 1178996909
1 changed files with 5 additions and 5 deletions
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10
deploy/robot_ws/src/go2py_node/src/bridge.cpp
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@ -55,11 +55,11 @@ class Custom: public rclcpp::Node
lowcmd_suber = this->create_subscription<unitree_go::msg::Go2pyLowCmd>( lowcmd_suber = this->create_subscription<unitree_go::msg::Go2pyLowCmd>(
"/go2/lowcmd", 1, std::bind(&Custom::lowcmd_callback, this, std::placeholders::_1)); "/go2/lowcmd", 1, std::bind(&Custom::lowcmd_callback, this, std::placeholders::_1));
joint_cmd_suber = this->create_subscription<sensor_msgs::msg::JointState>( // joint_cmd_suber = this->create_subscription<sensor_msgs::msg::JointState>(
"/go2/joint_cmd", // "/go2/joint_cmd",
1, // 1,
std::bind(&Custom::joint_cmd_callback, this, std::placeholders::_1) // std::bind(&Custom::joint_cmd_callback, this, std::placeholders::_1)
); // );
lowcmd_puber = this->create_publisher<unitree_go::msg::LowCmd>("/lowcmd", 10); lowcmd_puber = this->create_publisher<unitree_go::msg::LowCmd>("/lowcmd", 10);