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fix: (arm) )add timestamp to Socket voltages, change while: pass to thread.join()

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This commit is contained in:
David Sharpe
2026-03-02 03:13:13 -06:00
parent a3044963e5
commit c766441ff2
1 changed files with 2 additions and 2 deletions
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4
src/arm_pkg/arm_pkg/arm_node.py
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@@ -124,8 +124,7 @@ class ArmNode(Node):
thread.start() thread.start()
try: try:
while rclpy.ok(): thread.join()
pass
except KeyboardInterrupt: except KeyboardInterrupt:
pass 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.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.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.v3 = float(msg.data[3]) / 100.0
self.arm_feedback_new.socket_voltage.header.stamp = msg.header.stamp
case 55: # Arm joint positions case 55: # Arm joint positions
angles = [angle / 10.0 for angle in msg.data] # VicCAN sends deg*10 angles = [angle / 10.0 for angle in msg.data] # VicCAN sends deg*10
# Joint state publisher for URDF visualization # Joint state publisher for URDF visualization