From 29f51c6b52e3e345546fa63281605dbc4f1d86cb Mon Sep 17 00:00:00 2001
From: Aldokan <114017858+Aldokan@users.noreply.github.com>
Date: Thu, 28 Sep 2023 18:24:08 +0200
Subject: [PATCH] Updated the callback function to publish wrench message from
 input

---
 .../scripts/joystick_interface.py                   | 13 ++++++-------
 1 file changed, 6 insertions(+), 7 deletions(-)

diff --git a/mission/joystick_interface/scripts/joystick_interface.py b/mission/joystick_interface/scripts/joystick_interface.py
index 74f5adfc..76ab8ff2 100755
--- a/mission/joystick_interface/scripts/joystick_interface.py
+++ b/mission/joystick_interface/scripts/joystick_interface.py
@@ -10,7 +10,7 @@ class JoystickInterface(Node):
 
     def __init__(self):
         rclpy.init()
-
+        super().__init__('joystick_interface_node')
         #Mapping copy pasted from the original file
         self.joystick_buttons_map = [
             "A",
@@ -37,11 +37,12 @@ def __init__(self):
             "dpad_vertical",
         ]
 
-        super().__init__('joystick_interface_node')
+        #self.wrench_publisher = self.create_publisher(Wrench, 'wrench_topic', 1)
+
+        #self.node = rclpy.create_node('joystick_interface')
         self.subscriber = self.create_subscription(Joy, 'joy',
                                                    self.joystick_cb, 1)
-
-        #self.wrench_publisher = self.create_publisher(Wrench, 'wrench_topic', 1)
+        rclpy.shutdown()
 
     def create_2d_wrench_message(self, x, y, yaw):
         wrench_msg = Wrench()
@@ -62,13 +63,11 @@ def joystick_cb(self, msg):
         a = msg.buttons
         return a
 
-
 def main(args=None):
-    #rclpy.init(args=args)
+    rclpy.init(args=args)
     print("hello from main")
     joystick_interface = JoystickInterface().subscriber
     rclpy.spin(joystick_interface)
     joystick_interface.destroy_node()
-
     rclpy.shutdown()
     return