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You have a single-duplex link, but I don't see any logic in your NewHardware class that prevents it from trying to transmit and receive at the same time. Obviously if it tries to do both, the received data will be lost or garbled.

You have a single-duplex link, but I don't see any logic in your NewHardware class that prevents it from trying to transmit and receive at the same time. Obviously if it tries to do both, the received data will be lost or garbled.

You probably need to add similar single-duplex logic in the rosserial_python serial_node.py so that it doesn't attempt to transmit and receive at the same time.

(Note that the rosserial protocol will send some message on its own, so simply controlling when your code sends and receives messages is not enough)