From b0c31017a655a82114d2df1aa58799522d244308 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Wed, 16 Aug 2023 09:19:45 +0200 Subject: [PATCH] update: switch from 10 Hz to 100Hz --- rmp220_middleware/rmp220_middleware.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/rmp220_middleware/rmp220_middleware.py b/rmp220_middleware/rmp220_middleware.py index 9ccbb38..c61e2ea 100644 --- a/rmp220_middleware/rmp220_middleware.py +++ b/rmp220_middleware/rmp220_middleware.py @@ -30,7 +30,7 @@ class StateMachineNode(Node): self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel_out', 10) self.cmd_vel_sub = self.create_subscription(Twist, '/cmd_vel_mux', self.cmd_vel_callback, 10) self.joy_sub = self.create_subscription(Joy, '/joy', self.joy_callback, 10) - self.timer = self.create_timer(0.1, self.timer_callback) + self.timer = self.create_timer(0.01, self.timer_callback) #self.timer = self.create_timer(0.1, self.cmd_vel_callback) # Create twist class for publishing velocities @@ -110,7 +110,7 @@ class StateMachineNode(Node): self.get_logger().info("State: DISABLED (Timeout)") self.disable_chassis() else: - self.timeout -= 0.1 + self.timeout -= 0.01 self.cmd_vel_pub.publish(self.latest_cmd_vel) if self.state == State.DISABLED: self.cmd_vel_pub.publish(self.twist)