ellensohn/rmp220_middleware
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update to 100hz

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Björn Ellensohn 2023-09-06 10:11:51 +02:00
parent c29a04f06e
commit f265f8a0dd
1 changed files with 1 additions and 1 deletions
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rmp220_middleware/rmp220_middleware.py
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@ -42,7 +42,7 @@ 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(0.02, 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 # Create service clients for chassis enable and disable
self.chassis_enable_client = self.create_client(RosSetChassisEnableCmd, 'set_chassis_enable') self.chassis_enable_client = self.create_client(RosSetChassisEnableCmd, 'set_chassis_enable')