Minor fixes in speed_calibration

src/wheel_speed_calibration/wheel_speed_calibration/speed_calibration.py

@@ -49,10 +49,12 @@ class SpeedCalibrator(Node):
         self.active = False
         speed_cmd = SpeedCommand()
         speed_cmd.value = 0.0
+        speed_cmd.header.stamp = self.get_clock().now().to_msg()
         self.speed_pub.publish(speed_cmd)
 
         steering_cmd = NormalizedSteeringCommand()
         steering_cmd.value = 0.0
+        steering_cmd.header.stamp = self.get_clock().now().to_msg()
         self.steering_pub.publish(steering_cmd)
         
         self.get_logger().info(f"Driving {self.distance}m completed!")
@@ -65,20 +67,23 @@ class SpeedCalibrator(Node):
 
     # publish speed and steering
     def drive(self):
-        if not self.active and self.meters_per_tick is None:
+        if self.meters_per_tick is None:
+            if not self.active:
+                self.get_logger().info(f'Starting drive with steering: {self.steering}')
                 self.active = True
 
             # parse and send steering command
             steering_cmd = NormalizedSteeringCommand()
             steering_cmd.value = self.steering
+            steering_cmd.header.stamp = self.get_clock().now().to_msg()
             self.steering_pub.publish(steering_cmd)
 
             # parse and send speed command
             speed_cmd = SpeedCommand()
             speed_cmd.value = self.speed
+            speed_cmd.header.stamp = self.get_clock().now().to_msg()
             self.speed_pub.publish(speed_cmd)
 
-            self.get_logger().info(f'Starting drive with steering: {self.steering}')
         
 
 def main(args=None):