From 8c213bca580f24b8d1b0495c935636b4be023c0e Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Mon, 4 May 2020 16:27:41 +0200
Subject: [PATCH] Fix get/setRate functions using ros::Rate API correctly
---
include/iri_base_algorithm/iri_base_algorithm.h | 5 ++---
1 file changed, 2 insertions(+), 3 deletions(-)
diff --git a/include/iri_base_algorithm/iri_base_algorithm.h b/include/iri_base_algorithm/iri_base_algorithm.h
index 84967ad..afde0e8 100644
--- a/include/iri_base_algorithm/iri_base_algorithm.h
+++ b/include/iri_base_algorithm/iri_base_algorithm.h
@@ -290,16 +290,15 @@ IriBaseAlgorithm<Algorithm>::~IriBaseAlgorithm()
template <class Algorithm>
void IriBaseAlgorithm<Algorithm>::setRate(double rate_hz)
{
- this->loop_rate_=rate_hz;
+ this->loop_rate_=ros::Rate(rate_hz);
}
template <class Algorithm>
double IriBaseAlgorithm<Algorithm>::getRate(void)
{
- return this->loop_rate_;
+ return 1.0/this->loop_rate_.expectedCycleTime().toSec();
}
-
template <class Algorithm>
void IriBaseAlgorithm<Algorithm>::reconfigureCallback(Config &config, uint32_t level)
{
--
GitLab