Make hand pose non blocking

bdaiinstitute · Oct 16, 2024 · 71b1974 · 71b1974
1 parent 3187a45
commit 71b1974
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/spot_driver/spot_driver/spot_ros2.py b/spot_driver/spot_driver/spot_ros2.py
@@ -2590,8 +2590,8 @@ def arm_pose_cmd_callback(self, data: PoseStamped) -> None:
             qz=data.pose.orientation.z,
             qw=data.pose.orientation.w,
             ref_frame=data.header.frame_id,
-            duration=self.cmd_duration,
             ensure_power_on_and_stand=False,
+            blocking=False,
         )
         if not result[0]:
             self.get_logger().warning(f"Failed to go to arm pose: {result[1]}")