From 8a6a2c80acdab8fe3f876ebb0d375697b1ed6599 Mon Sep 17 00:00:00 2001
From: Paul-Winpenny <92634321+Paul-Winpenny@users.noreply.github.com>
Date: Mon, 18 Nov 2024 15:54:22 +0000
Subject: [PATCH] Explicit cast to float
---
ros2/src/robobin/robobin/message_handler.py | 9 ++++++++-
1 file changed, 8 insertions(+), 1 deletion(-)
diff --git a/ros2/src/robobin/robobin/message_handler.py b/ros2/src/robobin/robobin/message_handler.py
index 01adeb4d..dd41cdbf 100644
--- a/ros2/src/robobin/robobin/message_handler.py
+++ b/ros2/src/robobin/robobin/message_handler.py
@@ -50,14 +50,21 @@ class MessageHandler:
"S": (-0.5, 0), # Move backward
"D": (0, -0.5) # Turn right
}
- response_data = directions.get(message.strip().upper(), (0, 0))
+
+ # Get direction data and ensure it's a tuple of floats
+ raw_response_data = directions.get(message.strip().upper(), (0, 0))
+ response_data = (float(raw_response_data[0]), float(raw_response_data[1])) # Explicitly cast to float
+
+ # Send feedback to the client
response = f"Manual control command received: {response_data}".encode()
if self.testing:
print(response.decode())
else:
client_socket.sendall(response)
+
print("Processed manual control command:", response_data)
return "cmd_vel", response_data
+
def handle_unknown_message(self, client_socket, _):
"""Handles unknown commands."""
--
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