Update mouse_teleop.py

ros-teleop · Sep 5, 2024 · cc7154b · cc7154b
1 parent b9abc28
commit cc7154b
Showing 1 changed file with 10 additions and 3 deletions.
diff --git a/mouse_teleop/mouse_teleop/mouse_teleop.py b/mouse_teleop/mouse_teleop/mouse_teleop.py
@@ -41,7 +41,7 @@
 import signal
 import tkinter
 
-from geometry_msgs.msg import Twist, Vector3
+from geometry_msgs.msg import TwistStamped, Vector3
 import numpy
 import rclpy
 from rclpy.node import Node
@@ -241,8 +241,15 @@ def _send_motion(self):
         lin = Vector3(x=v_x, y=v_y, z=0.0)
         ang = Vector3(x=0.0, y=0.0, z=w)
 
-        twist = Twist(linear=lin, angular=ang)
-        self._pub_cmd.publish(twist)
+        twist_stamped = TwistStamped()
+        header = Header()
+        header.stamp = rclpy.clock.Clock().now().to_msg()
+        header.frame_id = 'mouse_teleop'
+        twist_stamped.header = header
+        twist_stamped.twist.linear = lin
+        twist_stamped.twist.angular = ang
+
+        self._pub_cmd.publish(twist_stamped)
 
     def _publish_twist(self):
         self._send_motion()