fix import

ros-teleop · Sep 11, 2024 · e644b28 · e644b28
1 parent cc7154b
commit e644b28
Showing 1 changed file with 4 additions and 6 deletions.
diff --git a/mouse_teleop/mouse_teleop/mouse_teleop.py b/mouse_teleop/mouse_teleop/mouse_teleop.py
@@ -58,7 +58,7 @@ def __init__(self):
         self._holonomic = self.declare_parameter('holonomic', False).value
 
         # Create twist publisher:
-        self._pub_cmd = self.create_publisher(Twist, 'mouse_vel', 10)
+        self._pub_cmd = self.create_publisher(TwistStamped, 'mouse_vel', 10)
 
         # Initialize twist components to zero:
         self._v_x = 0.0
@@ -242,13 +242,11 @@ def _send_motion(self):
         ang = Vector3(x=0.0, y=0.0, z=w)
 
         twist_stamped = TwistStamped()
-        header = Header()
-        header.stamp = rclpy.clock.Clock().now().to_msg()
-        header.frame_id = 'mouse_teleop'
-        twist_stamped.header = header
+        twist_stamped.header.stamp = rclpy.clock.Clock().now().to_msg()
+        twist_stamped.header.frame_id = 'mouse_teleop'
         twist_stamped.twist.linear = lin
         twist_stamped.twist.angular = ang
-       
+
         self._pub_cmd.publish(twist_stamped)
 
     def _publish_twist(self):