Sleep 1 ms when publish imu in ros

2018-04-16 17:18:27 +08:00 · 2018-04-16 17:18:27 +08:00 · 03d6043c08
commit 03d6043c08
parent 3c65958c10
1 changed files with 2 additions and 0 deletions
--- 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();