Ros2 navigator utils remote control #1195
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cbrxyz
requested changes
Jun 3, 2024
| @@ -80,15 +88,15 @@ def check_for_timeout(self, joy: Joy): | |||
| # No change in state | |||
| # The controller times out after 15 minutes | |||
| if ( | |||
| rospy.Time.now() - self.last_joy.header.stamp > rospy.Duration(15 * 60) | |||
| rclpy.Time.now() - self.last_joy.header.stamp > rclpy.Duration(15 * 60) | |||
There was a problem hiding this comment.
rclpy.Time.now() is not allowed in ROS 2
| self.reset() | ||
|
|
||
| else: | ||
| joy.header.stamp = ( | ||
| rospy.Time.now() | ||
| rclpy.Time.now() |
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Description
Migrated to ROS2 Navigator/utils/remote_control/navigator_joystick_control & Navigator/utils/remote_control/navigator_emergency_control
Screenshot or Video
ROS 2 migration, no screenshot or videos
Related Issues
Part of the ROS2 migration
- Closes #XXX
Testing
About This PR