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fix: make cmd_vel QoS compatible with everything else

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David
2025-10-18 01:48:30 -05:00
parent aa84667aab
commit 8c01efeaf7
1 changed files with 1 additions and 1 deletions
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src/core_pkg/core_pkg/core_node.py
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@@ -81,7 +81,7 @@ class SerialRelay(Node):
# Control # Control
# autonomy twist -- m/s and rad/s -- for autonomy, in particular Nav2 # autonomy twist -- m/s and rad/s -- for autonomy, in particular Nav2
self.cmd_vel_sub_ = self.create_subscription(TwistStamped, '/cmd_vel', self.cmd_vel_callback, qos_profile=control_qos) self.cmd_vel_sub_ = self.create_subscription(TwistStamped, '/cmd_vel', self.cmd_vel_callback, 1)
# manual twist -- [-1, 1] rather than real units # manual twist -- [-1, 1] rather than real units
self.twist_man_sub_ = self.create_subscription(Twist, '/core/twist', self.twist_man_callback, qos_profile=control_qos) self.twist_man_sub_ = self.create_subscription(Twist, '/core/twist', self.twist_man_callback, qos_profile=control_qos)
# manual flags -- brake mode and max duty cycle # manual flags -- brake mode and max duty cycle