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modify(leader_election_converter): fix a mistake #1529

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merged 1 commit into from
Sep 10, 2024
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modify(leader_election_converter): fix a mistake #1529

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10 changes: 8 additions & 2 deletions system/leader_election_converter/script/relay_to_sub.py
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Original file line number Diff line number Diff line change
Expand Up @@ -43,17 +43,23 @@ def __init__(self):
self.autonomous_mode = False
self.operation_mode_autonomous_state = False
self.get_logger().info(f"Initial autonomous mode: {self.autonomous_mode}")
self.tmp_operation_mode_autonomous_state = False

def operation_mode_callback(self, msg):
if msg.autonomous != self.autonomous_mode:
self.autonomous_mode = msg.autonomous
self.get_logger().info(f"Autonomous mode changed: {self.autonomous_mode}")

def operation_mode_state_callback(self, msg):
self.tmp_operation_mode_autonomous_state = self.operation_mode_autonomous_state
if msg.mode == 2:
self.operation_mode_autonomous_state == True
self.operation_mode_autonomous_state = True
if self.tmp_operation_mode_autonomous_state != self.operation_mode_autonomous_state:
self.get_logger().info(f"Operation mode changed: {self.operation_mode_autonomous_state}")
else:
self.operation_mode_autonomous_state == False
self.operation_mode_autonomous_state = False
if self.tmp_operation_mode_autonomous_state != self.operation_mode_autonomous_state:
self.get_logger().info(f"Operation mode changed: {self.operation_mode_autonomous_state}")

def trajectory_callback(self, msg):
if self.autonomous_mode or self.operation_mode_autonomous_state == False:
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