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fix: -float is not float???

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Tested with controller but on Clucky
This commit is contained in:
David
2025-09-10 22:46:27 -05:00
parent d5ba9ad721
commit 882cbc5949
2 changed files with 11 additions and 5 deletions
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14
src/headless_pkg/src/headless_node.py
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@@ -90,6 +90,12 @@ class Headless(Node):
self.gamepad = pygame.joystick.Joystick(0) self.gamepad = pygame.joystick.Joystick(0)
self.gamepad.init() self.gamepad.init()
print(f'Gamepad Found: {self.gamepad.get_name()}') 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 # Now initialize the ROS2 node
super().__init__("headless") super().__init__("headless")
@@ -178,8 +184,8 @@ class Headless(Node):
right_bumper = self.gamepad.get_button(5) right_bumper = self.gamepad.get_button(5)
# Forward/back and Turn # Forward/back and Turn
input.linear.x = -left_stick_y input.linear.x = -1.0 * left_stick_y
input.angular.z = -right_stick_x input.angular.z = -1.0 * right_stick_x
# Publish # Publish
self.core_twist_pub_.publish(input) self.core_twist_pub_.publish(input)
@@ -205,8 +211,8 @@ class Headless(Node):
core_brake_mode = new_brake_mode core_brake_mode = new_brake_mode
core_speed_mode = new_speed_mode core_speed_mode = new_speed_mode
state_msg = CoreCtrlState() state_msg = CoreCtrlState()
state_msg.brake_mode = core_brake_mode state_msg.brake_mode = bool(core_brake_mode)
state_msg.speed_mode = core_speed_mode state_msg.speed_mode = int(core_speed_mode)
self.core_state_pub_.publish(state_msg) self.core_state_pub_.publish(state_msg)
self.get_logger().info(f"[Core State] Brake: {core_brake_mode}, Speed: {core_speed_mode}") self.get_logger().info(f"[Core State] Brake: {core_brake_mode}, Speed: {core_speed_mode}")

2
src/ros2_interfaces_pkg

Submodule src/ros2_interfaces_pkg updated: 821cdddee0...680c7b03c0