ellensohn/rmp220_middleware
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update: switch from 10 Hz to 100Hz

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Björn Ellensohn 2023-08-16 09:19:45 +02:00
parent 7e89c525a0
commit b0c31017a6
1 changed files with 2 additions and 2 deletions
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4
rmp220_middleware/rmp220_middleware.py
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@ -30,7 +30,7 @@ class StateMachineNode(Node):
self.cmd_vel_pub = self.create_publisher(Twist, '/cmd_vel_out', 10) 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.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.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) #self.timer = self.create_timer(0.1, self.cmd_vel_callback)
# Create twist class for publishing velocities # Create twist class for publishing velocities
@ -110,7 +110,7 @@ class StateMachineNode(Node):
self.get_logger().info("State: DISABLED (Timeout)") self.get_logger().info("State: DISABLED (Timeout)")
self.disable_chassis() self.disable_chassis()
else: else:
self.timeout -= 0.1 self.timeout -= 0.01
self.cmd_vel_pub.publish(self.latest_cmd_vel) self.cmd_vel_pub.publish(self.latest_cmd_vel)
if self.state == State.DISABLED: if self.state == State.DISABLED:
self.cmd_vel_pub.publish(self.twist) self.cmd_vel_pub.publish(self.twist)