drop performance by half

ros-navigation · Aug 9, 2024 · 4f12b72 · 4f12b72
1 parent 5f2c337
commit 4f12b72
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Showing 2 changed files with 2 additions and 5 deletions.
diff --git a/nav2_bringup/params/nav2_params.yaml b/nav2_bringup/params/nav2_params.yaml
@@ -426,4 +426,4 @@ loopback_simulator:
     odom_frame_id: "odom"
     map_frame_id: "map"
     scan_frame_id: "base_scan"  # tb4_loopback_simulator.launch.py remaps to 'rplidar_link'
-    update_duration: 0.01
+    update_duration: 0.02
diff --git a/nav2_loopback_sim/nav2_loopback_sim/loopback_simulator.py b/nav2_loopback_sim/nav2_loopback_sim/loopback_simulator.py
@@ -73,8 +73,6 @@ def __init__(self):
         self.t_odom_to_base_link.child_frame_id = self.base_frame_id
 
         self.tf_broadcaster = TransformBroadcaster(self)
-        self.tf_buffer = Buffer()
-        self.tf_listener = TransformListener(self.tf_buffer, self)
 
         self.initial_pose_sub = self.create_subscription(
             PoseWithCovarianceStamped,
@@ -180,8 +178,7 @@ def publishLaserScan(self):
         scan.range_min = 0.1
         scan.range_max = 100.0
         num_samples = int((scan.angle_max - scan.angle_min) / scan.angle_increment)
-        for i in range(num_samples):
-            scan.ranges.append(scan.range_max - 0.01)
+        scan.ranges = [scan.range_max - 0.01] * num_samples
         self.scan_pub.publish(scan)
 
     def publishTransforms(self, map_to_odom, odom_to_base_link):