From ed9a9c6570f05b9910fa5108c2a74987a454f176 Mon Sep 17 00:00:00 2001
From: Irene Garcia Camacho <igarcia@iri.upc.edu>
Date: Tue, 30 May 2017 18:50:20 +0200
Subject: [PATCH] Solved a problem to stop the walking motion
cmd_vel_timer.stop() function was called before publishing cmd_vel with 0
---
humanoid_modules/src/walk_module.cpp | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/humanoid_modules/src/walk_module.cpp b/humanoid_modules/src/walk_module.cpp
index 11de797..de75ec9 100644
--- a/humanoid_modules/src/walk_module.cpp
+++ b/humanoid_modules/src/walk_module.cpp
@@ -82,11 +82,11 @@ void CWalkModule::state_machine(void)
if(this->cancel_pending)
{
this->cancel_pending=false;
- this->cmd_vel_timer.stop();
this->state=WALK_MODULE_WAIT;
}
break;
case WALK_MODULE_WAIT: ROS_INFO("CWalkModule : state WAIT");
+ this->cmd_vel_timer.stop();
if(this->walking)
{
if(this->start_walking)
--
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