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fix(ros): fix loop_rate bug

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This commit is contained in:
kalman 2018-12-28 19:16:02 +08:00
parent 04722850b8
commit 50dc95aa71
1 changed files with 24 additions and 2 deletions
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26
wrappers/ros/src/mynt_eye_ros_wrapper/src/wrapper_nodelet.cc
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@ -343,7 +343,7 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
NODELET_INFO_STREAM("Advertized service " << DEVICE_INFO_SERVICE);
publishStaticTransforms();
ros::Rate loop_rate(60);
ros::Rate loop_rate(frame_rate_);
while (private_nh_.ok()) {
publishTopics();
loop_rate.sleep();
@ -867,8 +867,30 @@ class ROSWrapperNodelet : public nodelet::Nodelet {
int request_index = 0;
model_ = api_->GetModel();
if (model_ == Model::STANDARD2)
if (model_ == Model::STANDARD2) {
private_nh_.getParam("request_index", request_index);
switch (request_index) {
case 0:
case 4:
frame_rate_ = 10;
break;
case 1:
case 5:
frame_rate_ = 20;
break;
case 2:
case 6:
frame_rate_ = 30;
break;
case 3:
frame_rate_ = 60;
break;
}
}
if (model_ == Model::STANDARD) {
request_index = 0;
frame_rate_ = api_->GetOptionValue(Option::FRAME_RATE);
}
NODELET_FATAL_COND(m <= 0, "No MYNT EYE devices :(");
if (m <= 1) {