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sequenceplanner · Oct 26, 2021 · fcd65ca · fcd65ca
1 parent ab1af75
commit fcd65ca
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diff --git a/README.md b/README.md
@@ -11,10 +11,10 @@ git clone [this repo]
 cd ..
 colcon build
 . install/setup.sh
-ros2 run opcua_ros2_bridge opcua_ros2_bridge --ros-args -p server_address:="opc.tcp://192.168.1.33:4840/" -p node_ids:=["ns=4;i=45","ns=4;i=46","ns=4;i=47","ns=4;i=94"]
+ros2 run opcua_ros2_bridge opcua_ros2_bridge --ros-args -p server_address:="opc.tcp://192.168.1.33:4840/" -p node_ids:=["ns=4;i=45","ns=4;i=46","ns=4;i=47","ns=4;i=94","ns=4;i=306"]
 ```
 
 Or simply
 ```
-cargo run -- --ros-args -p server_address:="opc.tcp://192.168.1.33:4840/" -p node_ids:=["ns=4;i=45","ns=4;i=46","ns=4;i=47","ns=4;i=94"]
+cargo run -- --ros-args -p server_address:="opc.tcp://192.168.1.33:4840/" -p node_ids:=["ns=4;i=45","ns=4;i=46","ns=4;i=47","ns=4;i=94","ns=4;i=306"]
 ```
diff --git a/src/main.rs b/src/main.rs
@@ -266,7 +266,7 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
 
     let state_task = state.clone();
     let handle = tokio::task::spawn_blocking(move || loop {
-        node.spin_once(std::time::Duration::from_millis(2000));
+        node.spin_once(std::time::Duration::from_millis(100));
         let state = state_task.lock().unwrap();
 
         let mut json_map = serde_json::Map::with_capacity(state.len());