From 47d0dab24f23567ed58254697105a1dbe5024e0e Mon Sep 17 00:00:00 2001
From: acki <ackimixs@protonmail.com>
Date: Thu, 29 May 2025 08:15:57 -0400
Subject: [PATCH] debug

---
 .../include/modelec_com/pcb_odo_interface.hpp          |  2 ++
 src/modelec_com/src/pcb_odo_interface.cpp              | 10 ++++++++++
 2 files changed, 12 insertions(+)

diff --git a/src/modelec_com/include/modelec_com/pcb_odo_interface.hpp b/src/modelec_com/include/modelec_com/pcb_odo_interface.hpp
index e4428ef..3b7e57f 100644
--- a/src/modelec_com/include/modelec_com/pcb_odo_interface.hpp
+++ b/src/modelec_com/include/modelec_com/pcb_odo_interface.hpp
@@ -84,6 +84,8 @@ namespace Modelec
         rclcpp::Subscription<std_msgs::msg::Bool>::SharedPtr start_odo_sub_;
         bool start_odo_ = false;
 
+        rclcpp::TimerBase::SharedPtr odo_get_pos_timer_;
+
         // Promises and mutexes to synchronize service responses asynchronously
         std::queue<std::promise<long>> tof_promises_;
         std::mutex tof_mutex_;
diff --git a/src/modelec_com/src/pcb_odo_interface.cpp b/src/modelec_com/src/pcb_odo_interface.cpp
index 8f12e18..280d8db 100644
--- a/src/modelec_com/src/pcb_odo_interface.cpp
+++ b/src/modelec_com/src/pcb_odo_interface.cpp
@@ -181,6 +181,16 @@ namespace Modelec
                     SendOrder("START", {std::to_string(msg->data)});
                 }
             });
+
+        odo_get_pos_timer_ = this->create_wall_timer(
+            std::chrono::milliseconds(100),
+            [this]()
+            {
+                if (isOk && start_odo_)
+                {
+                    GetPos();
+                }
+            });
     }
 
     PCBOdoInterface::~PCBOdoInterface()