Set the diagnostic_period in the constructor. Used its value to control the...

Set the diagnostic_period in the constructor. Used its value to control the sleep in the local spin function.

include/iri_base_algorithm/iri_base_algorithm.h

@@ -277,6 +277,9 @@ IriBaseAlgorithm<Algorithm>::IriBaseAlgorithm(const ros::NodeHandle &nh) :
 
   // allow Ctrl+C management
   signal(SIGHUP, &IriBaseAlgorithm<Algorithm>::hupCalled);
+
+  // set the diagnostic updater period
+  this->private_node_handle_.setParam("diagnostic_period",0.1);
 }
 
 template <class Algorithm>
@@ -365,7 +368,7 @@ int IriBaseAlgorithm<Algorithm>::spin(void)
     // update diagnostics
     this->diagnostic_.update();
     
-    ros::WallDuration(0.1).sleep();
+    ros::WallDuration(this->diagnostic_.getPeriod()).sleep();
   }
 
   // stop ros