From 213105a46ba95fe0e287f1cddc7dcb9970d11703 Mon Sep 17 00:00:00 2001 From: David Date: Sun, 18 Jan 2026 23:54:06 -0600 Subject: [PATCH] feat: (headless) add env var to configure stick deadzone --- src/headless_pkg/src/headless_node.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/src/headless_pkg/src/headless_node.py b/src/headless_pkg/src/headless_node.py index 69ee592..8703bed 100755 --- a/src/headless_pkg/src/headless_node.py +++ b/src/headless_pkg/src/headless_node.py @@ -47,6 +47,8 @@ control_qos = qos.QoSProfile( CORE_MODE = "twist" # "twist" or "duty" +STICK_DEADZONE = float(os.getenv("STICK_DEADZONE", "0.05")) + class Headless(Node): def __init__(self): @@ -385,7 +387,7 @@ class Headless(Node): self.arm_publisher.publish(arm_input) -def deadzone(value: float, threshold=0.05) -> float: +def deadzone(value: float, threshold=STICK_DEADZONE) -> float: """Apply a deadzone to a joystick input so the motors don't sound angry""" if abs(value) < threshold: return 0 @@ -419,7 +421,7 @@ def main(args=None): except (KeyboardInterrupt, ExternalShutdownException): print("Caught shutdown signal. Exiting...") finally: - rclpy.shutdown() + rclpy.try_shutdown() if __name__ == "__main__":