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debug print for arm_node socket_pub_callback

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Tristan McGinnis
2025-04-16 20:06:51 -05:00
committed by David
parent 8e3f2ee88a
commit 27cf4d9982
1 changed files with 2 additions and 1 deletions
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src/arm_pkg/arm_pkg/arm_node.py
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@@ -369,7 +369,8 @@ class SerialRelay(Node):
# msg.joint_temps = self.arm_feedback.joint_temps # msg.joint_temps = self.arm_feedback.joint_temps
# msg.joint_voltages = self.arm_feedback.joint_voltages # msg.joint_voltages = self.arm_feedback.joint_voltages
# msg.joint_currents = self.arm_feedback.joint_currents # msg.joint_currents = self.arm_feedback.joint_currents
#debug print
self.get_logger().info(f"ARM NODE SENDING: Socket Feedback")
self.socket_pub.publish(self.arm_feedback) #Publish feedback from arm self.socket_pub.publish(self.arm_feedback) #Publish feedback from arm
self.arm.update_position() #Run FK and update the current position of the arm, using FK self.arm.update_position() #Run FK and update the current position of the arm, using FK