トピックの送信周期を早くするため、loop内のdelayの削除と、spine_someのタイムアウト時間を削減した (#15)

Shota Aoki · web-flow · commit 0e8f599d1b60 · 2023-06-16T12:47:24.000+09:00
diff --git a/uROS_STEP10_tfMsg/uROS_STEP10_tfMsg.ino b/uROS_STEP10_tfMsg/uROS_STEP10_tfMsg.ino
@@ -298,7 +298,5 @@ void loop()
   RCSOFTCHECK(rcl_publish(&g_publisher, g_tf_message, NULL));
   RCSOFTCHECK(rcl_publish(&g_publisher2, &g_jstate, NULL));
 
-  RCCHECK(rclc_executor_spin_some(&g_executor, RCL_MS_TO_NS(100)));  //for subscription
-
-  delay(10);
+  RCCHECK(rclc_executor_spin_some(&g_executor, RCL_MS_TO_NS(10)));  //for subscription
 }

Original file line number	Diff line number	Diff line change
`@@ -298,7 +298,5 @@ void loop()`
`298`	`298`	`RCSOFTCHECK(rcl_publish(&g_publisher, g_tf_message, NULL));`
`299`	`299`	`RCSOFTCHECK(rcl_publish(&g_publisher2, &g_jstate, NULL));`
`300`	`300`
`301`		`- RCCHECK(rclc_executor_spin_some(&g_executor, RCL_MS_TO_NS(100))); //for subscription`
`302`		`-`
`303`		`- delay(10);`
	`301`	`+ RCCHECK(rclc_executor_spin_some(&g_executor, RCL_MS_TO_NS(10))); //for subscription`
`304`	`302`	`}`