From c766441ff24484ee630a0ec502ef11535de637ed Mon Sep 17 00:00:00 2001 From: David Sharpe Date: Mon, 2 Mar 2026 03:13:13 -0600 Subject: [PATCH] fix: (arm) )add timestamp to Socket voltages, change while: pass to thread.join() --- src/arm_pkg/arm_pkg/arm_node.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/arm_pkg/arm_pkg/arm_node.py b/src/arm_pkg/arm_pkg/arm_node.py index 6c3e5fe..a5b9392 100644 --- a/src/arm_pkg/arm_pkg/arm_node.py +++ b/src/arm_pkg/arm_pkg/arm_node.py @@ -124,8 +124,7 @@ class ArmNode(Node): thread.start() try: - while rclpy.ok(): - pass + thread.join() except KeyboardInterrupt: pass @@ -252,6 +251,7 @@ class ArmNode(Node): self.arm_feedback_new.socket_voltage.v12 = float(msg.data[1]) / 100.0 self.arm_feedback_new.socket_voltage.v5 = float(msg.data[2]) / 100.0 self.arm_feedback_new.socket_voltage.v3 = float(msg.data[3]) / 100.0 + self.arm_feedback_new.socket_voltage.header.stamp = msg.header.stamp case 55: # Arm joint positions angles = [angle / 10.0 for angle in msg.data] # VicCAN sends deg*10 # Joint state publisher for URDF visualization