From f265f8a0ddb3a07041a3b91a1081366628668ca5 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Bj=C3=B6rn=20Ellensohn?= Date: Wed, 6 Sep 2023 10:11:51 +0200 Subject: [PATCH] update to 100hz --- rmp220_middleware/rmp220_middleware.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/rmp220_middleware/rmp220_middleware.py b/rmp220_middleware/rmp220_middleware.py index e32685b..5904c06 100644 --- a/rmp220_middleware/rmp220_middleware.py +++ b/rmp220_middleware/rmp220_middleware.py @@ -42,7 +42,7 @@ 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(0.02, self.timer_callback) # changed to 50 Hz for testing purposes + self.timer = self.create_timer(0.01, self.timer_callback) # changed to 100 Hz for now # Create service clients for chassis enable and disable self.chassis_enable_client = self.create_client(RosSetChassisEnableCmd, 'set_chassis_enable')