From 882cbc594944e42c3085101a9a6b042c366fa5b8 Mon Sep 17 00:00:00 2001 From: David Date: Wed, 10 Sep 2025 22:46:27 -0500 Subject: [PATCH] fix: -float is not float??? Tested with controller but on Clucky --- src/headless_pkg/src/headless_node.py | 14 ++++++++++---- src/ros2_interfaces_pkg | 2 +- 2 files changed, 11 insertions(+), 5 deletions(-) diff --git a/src/headless_pkg/src/headless_node.py b/src/headless_pkg/src/headless_node.py index 1837296..291e0eb 100755 --- a/src/headless_pkg/src/headless_node.py +++ b/src/headless_pkg/src/headless_node.py @@ -90,6 +90,12 @@ class Headless(Node): self.gamepad = pygame.joystick.Joystick(0) self.gamepad.init() print(f'Gamepad Found: {self.gamepad.get_name()}') + + # Rumble when gamepad connected (if supported) + if self.gamepad.get_axis_count() > 0: # type: ignore + # check for rumble support + if hasattr(self.gamepad, 'get_rumble'): + self.gamepad.rumble(0.4, 0.6, 200) # Now initialize the ROS2 node super().__init__("headless") @@ -178,8 +184,8 @@ class Headless(Node): right_bumper = self.gamepad.get_button(5) # Forward/back and Turn - input.linear.x = -left_stick_y - input.angular.z = -right_stick_x + input.linear.x = -1.0 * left_stick_y + input.angular.z = -1.0 * right_stick_x # Publish self.core_twist_pub_.publish(input) @@ -205,8 +211,8 @@ class Headless(Node): core_brake_mode = new_brake_mode core_speed_mode = new_speed_mode state_msg = CoreCtrlState() - state_msg.brake_mode = core_brake_mode - state_msg.speed_mode = core_speed_mode + state_msg.brake_mode = bool(core_brake_mode) + state_msg.speed_mode = int(core_speed_mode) self.core_state_pub_.publish(state_msg) self.get_logger().info(f"[Core State] Brake: {core_brake_mode}, Speed: {core_speed_mode}") diff --git a/src/ros2_interfaces_pkg b/src/ros2_interfaces_pkg index 821cddd..680c7b0 160000 --- a/src/ros2_interfaces_pkg +++ b/src/ros2_interfaces_pkg @@ -1 +1 @@ -Subproject commit 821cdddee0a100beca9bc243549ad361a3effaa3 +Subproject commit 680c7b03c0568f9c53e208530cdd3231ba3ac42e