convert rospy Time difference to seconds to compare with a timeout value

uuvsimulator · Jul 3, 2020 · 38aad7c · 38aad7c
1 parent aadee6a
commit 38aad7c
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py b/uuv_control/uuv_thruster_manager/scripts/thruster_allocator.py
@@ -66,7 +66,7 @@ def __init__(self):
             if self.config['timeout'] > 0:
                 # If a timeout is set, zero the outputs to the thrusters if
                 # there is no command signal for the length of timeout
-                if rospy.Time.now() - self.last_update > self.config['timeout']:
+                if (rospy.Time.now() - self.last_update).to_sec() > self.config['timeout']:
                     print('Turning thrusters off - inactive for too long')
                     if self.thrust is not None:
                         self.thrust.fill(0)