Improve homing

src/axidraw_controller/src/py/axidraw_serial.py

@@ -69,7 +69,6 @@ class AxidrawSerial(Node):
         return response
 
     def go_home(self):
-        self.wait_ready()
         self.status["motion"] = "busy"
         if self.status["serial"] == "ready":
             self.ad.moveto(0,0)
@@ -82,9 +81,10 @@ class AxidrawSerial(Node):
         self.status["motion"] = "ready"
 
     def wait_ready(self):
-        rate = node.create_rate(2) #2Hz
+        rate = self.create_rate(2) #2Hz
         while self.status["motion"] != "ready":
             rate.sleep()
+            pass
 
     def move_callback(self, msg):
         self.set_busy()