Adapt to new gsdk version

Flova · Nov 5, 2023 · 59704c5 · 59704c5
1 parent dcfd772
commit 59704c5
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Showing 3 changed files with 8 additions and 5 deletions.
diff --git a/gremsy_base/config/config.yaml b/gremsy_base/config/config.yaml
@@ -1,7 +1,7 @@
 # Config
 device: "/dev/ttyUSB0"
 baudrate: 115200
-state_poll_rate: 10.0
-goal_push_rate: 60.0
-gimbal_mode: 1
+state_poll_rate: 5.0
+goal_push_rate: 10.0
+gimbal_mode: 0
 
diff --git a/gremsy_base/src/gSDK b/gremsy_base/src/gSDK
diff --git a/gremsy_base/src/ros_gremsy.cpp b/gremsy_base/src/ros_gremsy.cpp
@@ -87,7 +87,10 @@ void GimbalNode::gimbalStateTimerCallback(const ros::TimerEvent& event)
     encoder_ros_msg.vector.y = ((float) encoder_values.pitch) * DEG_TO_RAD;
     encoder_ros_msg.vector.z = ((float) encoder_values.yaw) * DEG_TO_RAD;
 
-    encoder_pub.publish(encoder_ros_msg); 
+    if (encoder_values.roll or encoder_values.pitch or encoder_values.yaw)
+    {
+        encoder_pub.publish(encoder_ros_msg); 
+    }
 
     //// Publish Gimbal IMU (Currently this deadlocks)
     //Gimbal_Interface::imu_t imu_data = gimbal_interface_->get_gimbal_raw_imu();