fixes

Author: sWintermoor

src/bitbots_motion/bitbots_rl_motion/handlers/ball_handler.py

@@ -1,16 +1,23 @@
 from handlers.handler import Handler
-
+import numpy as np
 
 class BallHandler(Handler):
     def __init__(self, config):
         super().__init__(config)
-        self.ball_pos = None
+        self._ball_pos = None
 
     def ball_pos_callback(self, msg):
-        self.ball_pos = msg
+        self._ball_pos = msg
 
     def has_data(self):
-        return (self.ball_pos != None)
+        return (self._ball_pos != None)
 
     def get_ball_pos(self):
-        return self.ball_pos
+        ball_pos = np.array(
+            [
+                self._ball_pos.pose.position.x,
+                self._ball_pos.pose.position.y,
+            ],
+            dtype=np.float32,
+        )
+        return ball_pos

src/bitbots_motion/bitbots_rl_motion/nodes/rl_node.py

@@ -50,6 +50,7 @@ def _timer_callback(self):
         # Prüfen ob alle Subscriber schon mindestens eine Nachricht hatten
         if not self._all_sensors_ready():
             self.get_logger().warning("Waiting for all sensors to be available", throttle_duration_sec=1.0)
+            return
 
         # TODO consider IMU mounting offset