From 87b2ab6f8c0a262eb84894f01be48f1375838987 Mon Sep 17 00:00:00 2001 From: David Date: Wed, 1 Oct 2025 11:18:31 -0500 Subject: [PATCH] fix!: remove bio from headless Slows down controls too much, going to need to figure something out for speeding that up --- src/headless_pkg/src/headless_node.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/headless_pkg/src/headless_node.py b/src/headless_pkg/src/headless_node.py index e90236c..8b2ccd7 100755 --- a/src/headless_pkg/src/headless_node.py +++ b/src/headless_pkg/src/headless_node.py @@ -163,7 +163,7 @@ class Headless(Node): self.core_publisher.publish(input) self.arm_publisher.publish(ARM_STOP_MSG) - self.bio_publisher.publish(BIO_STOP_MSG) + # self.bio_publisher.publish(BIO_STOP_MSG) elif self.ctrl_mode == "core" and CORE_MODE == "twist": input = Twist() @@ -182,7 +182,7 @@ class Headless(Node): # Publish self.core_twist_pub_.publish(input) self.arm_publisher.publish(ARM_STOP_MSG) - self.bio_publisher.publish(BIO_STOP_MSG) + # self.bio_publisher.publish(BIO_STOP_MSG) self.get_logger().info(f"[Core Ctrl] Linear: {round(input.linear.x, 2)}, Angular: {round(input.angular.z, 2)}") # Brake mode @@ -270,7 +270,7 @@ class Headless(Node): self.core_publisher.publish(CORE_STOP_MSG) self.arm_publisher.publish(arm_input) - self.bio_publisher.publish(bio_input) + # self.bio_publisher.publish(bio_input) def deadzone(value: float, threshold=0.05) -> float: