fix: joy translation vehicle messages

Nova-UTD · Apr 27, 2024 · 39da438 · 39da438
1 parent faa3b0c
commit 39da438
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Showing 2 changed files with 5 additions and 6 deletions.
diff --git a/src/safety/guardian/guardian/guardian_node.py b/src/safety/guardian/guardian/guardian_node.py
@@ -46,7 +46,7 @@ class StatusEntry:
 class guardian_node(Node):
     joy_sub = 0.0
     command_pub = None
-    current_mode = Mode.DISABLED
+    current_mode = Mode.DISABLED #TEMPORARY SET TO MANUAL FOR TESTING
 
     def __init__(self):
         super().__init__('guardian_node')

diff --git a/src/tools/joy_translation/joy_translation/joy_translation_node.py b/src/tools/joy_translation/joy_translation/joy_translation_node.py
@@ -47,7 +47,7 @@
 import time
 
 from navigator_msgs.msg import VehicleControl
-from navigator_msgs.msg import CarlaSpeedometer
+from navigator_msgs.msg import VehicleSpeed
 from diagnostic_msgs.msg import DiagnosticStatus, KeyValue
 from navigator_msgs.msg import Mode
 import rclpy
@@ -56,7 +56,6 @@
 
 
 class joy_translation_node(Node):
-    current_mode = Mode.DISABLED
 
     def __init__(self):
         super().__init__('joy_translation_node')
@@ -77,17 +76,17 @@ def __init__(self):
             Mode, '/requested_mode', 1)
 
         speed_sub = self.create_subscription(
-            CarlaSpeedometer, '/speed', self.speedCb, 1)
+            VehicleSpeed, '/speed', self.speedCb, 1)
 
         self.status = DiagnosticStatus()
         self.status_pub = self.create_publisher(
             DiagnosticStatus, '/node_statuses', 1)
 
-        self.current_mode = Mode.DISABLED
+        self.current_mode = Mode.MANUAL
         self.current_mode_sub = self.create_subscription(
             Mode, '/guardian/mode', self.currentModeCb, 1)
 
-    def speedCb(self, msg: CarlaSpeedometer):
+    def speedCb(self, msg: VehicleSpeed):
         self.current_speed = msg.speed
 
     def currentModeCb(self, msg: Mode):