From 0ee3d68f0820670d1516093586b6aacc24d0b0d1 Mon Sep 17 00:00:00 2001 From: Chris Iverach-Brereton Date: Mon, 6 Jan 2025 17:00:34 -0500 Subject: [PATCH] Add a timeout to the quality lock so we lock out the controller if the quality-checker node crashes --- clearpath_control/launch/teleop_joy.launch.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/clearpath_control/launch/teleop_joy.launch.py b/clearpath_control/launch/teleop_joy.launch.py index 9bcaee0..1501f97 100644 --- a/clearpath_control/launch/teleop_joy.launch.py +++ b/clearpath_control/launch/teleop_joy.launch.py @@ -125,7 +125,7 @@ def generate_launch_description(): {'topics.joy.timeout': 0.5}, {'topics.joy.priority': 10}, {'locks.bt_quality.topic': 'joy_teleop/bt_quality_stop'}, - {'locks.bt_quality.timeout': 0.0}, + {'locks.bt_quality.timeout': 1.0}, {'locks.bt_quality.priority': 255}, ] )