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fixed state publish rate error (from 20hz to 50hz), gazebo scout v2 sim ready

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This commit is contained in:
Ruixiang Du
2020-04-02 11:43:29 +08:00
parent a1efd5b609
commit f73a2e2f59
15 changed files with 392 additions and 368 deletions
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6
scout_base/src/scout_base_node.cpp
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@@ -40,13 +40,13 @@ int main(int argc, char **argv)
}
messenger.SetupSubscription();
// publish robot state at 20Hz while listening to twist commands
ros::Rate rate_20hz(20); // 20Hz
// publish robot state at 50Hz while listening to twist commands
ros::Rate rate_50hz(50); // 50Hz
while (true)
{
messenger.PublishStateToROS();
ros::spinOnce();
rate_20hz.sleep();
rate_50hz.sleep();
}
return 0;