Merge pull request #132 from husarion/ros1-fix-1.06-bat-current

FIx battery current in older panthers
husarion · Jun 27, 2023 · 7070ccd · 7070ccd
2 parents b9392ec + 18110a8
commit 7070ccd
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/panther_battery/src/roboteq_republisher_node.py b/panther_battery/src/roboteq_republisher_node.py
@@ -64,7 +64,7 @@ def _motor_controllers_state_cb(self, msg: DriverState) -> None:
 
             self._last_battery_info_time = rospy.get_time()
             self._battery_voltage = new_voltage
-            self._battery_current = msg.front.current + msg.rear.current
+            self._battery_current = -(msg.front.current + msg.rear.current)
             self._update_volt_mean(new_voltage)
 
     def _battery_pub_timer_cb(self, *args) -> None: