From 7d3940334bb461eba0e182b0be1a8b66bc871352 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Thu, 13 Apr 2023 16:26:39 -0700 Subject: [PATCH] Switch from robot to pimu push command --- stretch_core/nodes/stretch_driver | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/stretch_core/nodes/stretch_driver b/stretch_core/nodes/stretch_driver index 14bdc26..fb7376e 100755 --- a/stretch_core/nodes/stretch_driver +++ b/stretch_core/nodes/stretch_driver @@ -528,7 +528,7 @@ class StretchDriverNode: # odometry, and publish joint states while not rospy.is_shutdown(): self.robot.pimu.set_fan_on() - self.robot.push_command() + self.robot.pimu.push_command() self.command_mobile_base_velocity_and_publish_state() command_base_velocity_and_publish_joint_state_rate.sleep() except (rospy.ROSInterruptException, ThreadServiceExit):