From 03d6043c08364998137f4fd3b31e0c42c13faa94 Mon Sep 17 00:00:00 2001
From: John Zhao <johnzhao@slightech.com>
Date: Mon, 16 Apr 2018 17:18:27 +0800
Subject: [PATCH] Sleep 1 ms when publish imu in ros

---
 wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
index de3160b..8d725d4 100644
--- a/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
+++ b/wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
@@ -252,6 +252,8 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
                         << ", gyro_y: " << data.imu->gyro[1]
                         << ", gyro_z: " << data.imu->gyro[2]
                         << ", temperature: " << data.imu->temperature);
+      // Sleep 1ms, otherwise publish may drop some datas.
+      ros::Duration(0.001).sleep();
     });
 
     time_beg_ = ros::Time::now().toSec();