Merge pull request #134 from iory/velocity

Avoid serial error in velocity command callback
iory · Dec 22, 2024 · 7d23c9e · 7d23c9e
2 parents e5371ce + 4ae34f1
commit 7d23c9e
Showing 1 changed file with 3 additions and 1 deletion.
diff --git a/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py b/ros/kxr_controller/node_scripts/rcb4_ros_bridge.py
@@ -600,7 +600,9 @@ def velocity_command_joint_state_callback(self, msg):
             self._prev_velocity_command, av
         ):
             return
-        ret = self.interface.angle_vector(av, servo_ids, velocity=self.wheel_frame_count)
+        ret = serial_call_with_retry(
+            self.interface.angle_vector, av, servo_ids,
+            velocity=self.wheel_frame_count)
         if ret is None:
             return
         self._prev_velocity_command = av