Limit zmq buffer to 1 and fix the commit for spdlog

UT-Austin-RPL · May 23, 2024 · 97396fd · 97396fd
1 parent 21602ed
commit 97396fd
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diff --git a/deoxys/InstallPackage b/deoxys/InstallPackage
@@ -35,6 +35,9 @@ git clone https://github.com/jbeder/yaml-cpp.git
 
 # download spdlog package
 git clone https://github.com/gabime/spdlog.git
+cd spdlog
+git checkout ac55e60488032b9acde8940a5de099541c4515da
+cd ..
 
 # download protobuf
 git clone --recursive https://github.com/protocolbuffers/protobuf.git

diff --git a/deoxys/franka-interface/src/utils/zmq_utils.cpp b/deoxys/franka-interface/src/utils/zmq_utils.cpp
@@ -19,6 +19,7 @@ ZMQSubscriber::ZMQSubscriber(std::string ip, std::string port,
                              std::string filter)
     : subscriber_socket_(context_, zmqpp::socket_type::subscribe) {
   sub_host_ = "tcp://" + ip + ":" + port;
+  subscriber_socket_.set(zmqpp::socket_option::conflate, 1);
   subscriber_socket_.subscribe(filter);
   subscriber_socket_.connect(sub_host_);
 };