Skip to content

Commit

Permalink
robot_simulator: set explicit queue size in Publishers. Fix ros-indus…
Browse files Browse the repository at this point in the history
…trial#99.

Queue size of 1 is most likely sufficient for these topics.
  • Loading branch information
gavanderhoorn committed Jan 15, 2015
1 parent ce9fcf4 commit 92d4b8e
Showing 1 changed file with 4 additions and 4 deletions.
8 changes: 4 additions & 4 deletions industrial_robot_simulator/industrial_robot_simulator
Original file line number Diff line number Diff line change
Expand Up @@ -214,18 +214,18 @@ class IndustrialRobotSimulatorNode():

# retrieve update rate
motion_update_rate = rospy.get_param('motion_update_rate', 100.); #set param to 0 to ignore interpolated motion
self.motion_ctrl = MotionControllerSimulator(num_joints, initial_joint_state, update_rate = motion_update_rate)
self.motion_ctrl = MotionControllerSimulator(num_joints, initial_joint_state, update_rate=motion_update_rate)

# Published to joint states
rospy.logdebug("Creating joint state publisher")
self.joint_state_pub = rospy.Publisher('joint_states', JointState)
self.joint_state_pub = rospy.Publisher('joint_states', JointState, queue_size=1)

# Published to joint feedback
rospy.logdebug("Creating joint feedback publisher")
self.joint_feedback_pub = rospy.Publisher('feedback_states', FollowJointTrajectoryFeedback)
self.joint_feedback_pub = rospy.Publisher('feedback_states', FollowJointTrajectoryFeedback, queue_size=1)

rospy.logdebug("Creating robot status publisher")
self.robot_status_pub = rospy.Publisher('robot_status', RobotStatus)
self.robot_status_pub = rospy.Publisher('robot_status', RobotStatus, queue_size=1)

# Subscribe to a joint trajectory
rospy.logdebug("Creating joint trajectory subscriber")
Expand Down

0 comments on commit 92d4b8e

Please sign in to comment.