Fix CAN communication error check

husarion · Aug 14, 2023 · df40f16 · df40f16
1 parent 317c16f
commit df40f16
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/panther_driver/src/panther_can.py b/panther_driver/src/panther_can.py
@@ -72,7 +72,7 @@ def can_connection_error(self) -> Generator[bool, None, None]:
         for controller in self._motor_controllers:
             if self._robot_driver_initialized:
                 faults = [
-                    time_now - cb_time > rospy.Duration(0.5)
+                    time_now - cb_time > rospy.Duration(0.2)
                     for cb_time in controller.last_time_callback.values()
                 ]
                 yield any(faults)