The stop command didn't have floats + gave default values to pwm

ros2/src/robobin/robobin/api_node.py

@@ -53,6 +53,7 @@ class ApiNode(Node):
             publisher = self.publisher_topics[topic]
 
             # Check if the topic is 'cmd_vel' and format the message as a Twist message
+            self.get_logger().info(f"Publishing to {topic}: {message}")
             if topic == "cmd_vel" and isinstance(message, tuple):
                 linear_x, angular_z = message
                 twist_msg = Twist()

ros2/src/robobin/robobin/message_handler.py

@@ -26,7 +26,7 @@ class MessageHandler:
             print(response.decode())
         else:
             client_socket.sendall(response)
-        return "cmd_vel", (0, 0)
+        return "cmd_vel", (0.0, 0.0)
     
     def handle_ping(self, client_socket, _):
         """Responds with a PONG message."""

ros2/src/robobin/robobin/motor_control_node.py

@@ -10,7 +10,8 @@ class MotorController(Node):
         self.wheel_radius = 0.05  # meters
         self.wheel_base = 0.30 
         self.get_logger().info("hello")
-        
+        left_pwm = 0
+        right_pwm = 0
 
     def cmd_vel_callback(self, msg):
         v = msg.linear.x
@@ -46,7 +47,9 @@ class MotorController(Node):
         elif v == -0.5:
             left_pwm = -75
             right_pwm = -75  
-
+        if v == 0:
+            left_pwm = 0
+            right_pwm = 0
 
         
         self.get_logger().info(f"Left PWM: {left_pwm}, Right PWM: {right_pwm}")