From 1a67c9181075c3ea0b4711f8383aa257077db91e Mon Sep 17 00:00:00 2001 From: Binit Shah Date: Tue, 9 Jan 2024 15:56:17 -0500 Subject: [PATCH] Introduce ROS fan on parameter --- stretch_core/nodes/stretch_driver | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/stretch_core/nodes/stretch_driver b/stretch_core/nodes/stretch_driver index 151ceed..23751e3 100755 --- a/stretch_core/nodes/stretch_driver +++ b/stretch_core/nodes/stretch_driver @@ -583,7 +583,8 @@ class StretchDriverNode: # odometry, and publish joint states while not rospy.is_shutdown(): self.robot.non_dxl_thread.step() - self.robot.pimu.set_fan_on() + if self.robot.pimu.params.get('ros_fan_on', True): + self.robot.pimu.set_fan_on() self.command_mobile_base_velocity_and_publish_state() self.robot.push_command() self.dirty_command=False