Auto commit at 2025-06-11 17:13:15

src/mc/src/mc.cpp

@@ -185,12 +185,13 @@ void setupTimers(rclcpp::Node::SharedPtr node)
           vcu_awake.store(false);
         } });
 
-  // MCU、VCU1 控制，50Hz
+  // MCU控制，50Hz
   static rclcpp::TimerBase::SharedPtr timer_mcu = node->create_wall_timer(
       std::chrono::milliseconds(20), []()
       {
         sweeperMsg::McCtrl msg = get_safe_control();
 
+        mcu_cmd.setEnabled(true);
         mcu_cmd.setGear(msg.gear);
         mcu_cmd.setRPM(msg.rpm);
         mcu_cmd.setBrake(msg.brake);