From 0a788b86393b5dcb5a091e9bc4e35fa0d13471e8 Mon Sep 17 00:00:00 2001
From: cc0h <792166012@qq.com>
Date: Tue, 1 Oct 2024 00:27:10 +0800
Subject: [PATCH] Change the method to judge if rc is open.

---
 src/manual_base.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/manual_base.cpp b/src/manual_base.cpp
index 3aace06e..d3b1da47 100644
--- a/src/manual_base.cpp
+++ b/src/manual_base.cpp
@@ -118,7 +118,7 @@ void ManualBase::actuatorStateCallback(const rm_msgs::ActuatorState::ConstPtr& d
 
 void ManualBase::dbusDataCallback(const rm_msgs::DbusData::ConstPtr& data)
 {
-  if (data->rc_is_open)
+  if (ros::Time::now() - data->stamp < ros::Duration(1.0))
   {
     if (!remote_is_open_)
     {