From df40f16bcb69895871161579ea35bf6304f4e4c9 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Pawe=C5=82=20Kowalski?= <82044322+pkowalsk1@users.noreply.github.com> Date: Mon, 14 Aug 2023 10:30:18 +0200 Subject: [PATCH] Fix CAN communication error check --- panther_driver/src/panther_can.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/panther_driver/src/panther_can.py b/panther_driver/src/panther_can.py index 3c6a48beb..6e4c76254 100755 --- 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)