Fix bug in xbox drive

MacRover · Dec 14, 2024 · 1b684e3 · 1b684e3
1 parent 8f6f732
commit 1b684e3
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/ros_ws/src/drive/drive/xbox_drive.py b/ros_ws/src/drive/drive/xbox_drive.py
@@ -77,7 +77,7 @@ def joy_callback(self, msg: Joy) -> None:
             rad_pulse_msg.rear_right_pulse  = 0.0
             rad_pulse_msg.rear_left_pulse   = 0.0
 
-        pub_rad_pulses.publish(rad_pulse_msg)
+        self.pub_rad_pulses.publish(rad_pulse_msg)
 
         speed = TOP_SPEED*self._map(msg.axes[5], 1.0, -1.0, 1.0, TURBO_FACTOR)   
         self.vel_msg.linear.x = self._scale_with_deadzone(msg.axes[1],speed)