From 70f0f8438e12e11d08b450d6e9b2d58e3c86f166 Mon Sep 17 00:00:00 2001
From: joanvallve <jvallve@iri.upc.edu>
Date: Sun, 14 Jun 2020 19:21:41 +0200
Subject: [PATCH] disablable as well
---
src/subscriber_imu_enablable.cpp | 9 ++++-----
1 file changed, 4 insertions(+), 5 deletions(-)
diff --git a/src/subscriber_imu_enablable.cpp b/src/subscriber_imu_enablable.cpp
index 69c3bac..e9f2f77 100644
--- a/src/subscriber_imu_enablable.cpp
+++ b/src/subscriber_imu_enablable.cpp
@@ -27,12 +27,11 @@ void SubscriberImuEnablable::callback(const sensor_msgs::Imu::ConstPtr& msg)
void SubscriberImuEnablable::enableCallback(const std_msgs::Bool::ConstPtr& msg)
{
- if (msg->data)
- {
+ if (!enabled_ and msg->data)
ROS_INFO("IMU has been enabled!");
- enabled_ = true;
- enable_sub_.shutdown();
- }
+ if (enabled_ and !msg->data)
+ ROS_INFO("IMU has been disabled!");
+ enabled_ = msg->data;
}
}
--
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