modelec/modelec-marcel-ROS
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acki
2024-12-06 12:52:17 -05:00
parent c9dace243a
commit 104694b1ae
1 changed files with 1 additions and 2 deletions
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3
src/modelec/src/arm_controller.cpp
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@@ -32,11 +32,9 @@ namespace Modelec {
subscription_ = this->create_subscription<modelec_interface::msg::ServoMode>(
"arm_control", 10, [this](const modelec_interface::msg::ServoMode::SharedPtr msg) {
RCLCPP_INFO(this->get_logger(), "Received message");
if (msg->is_arm) {
ControlArm(msg);
} else if (pince_pins.find(msg->pin) != pince_pins.end()) {
RCLCPP_INFO(this->get_logger(), "Control pince");
ControlPince(msg);
}
});
@@ -52,6 +50,7 @@ namespace Modelec {
message.pin = pince.pin;
message.angle = pince.angles[msg->mode];
publisher_->publish(message);
pince_pins[msg->pin].mode = msg->mode;
}
void ArmController::ControlArm(const Mode::SharedPtr msg) {