From 10c6dceae4e4fc56a03d9377268de7b5ce3b1c44 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Mon, 4 May 2020 16:28:08 +0200
Subject: [PATCH] Fix get/setRate functions using ros::Rate API correctly
---
include/iri_base_driver/iri_base_driver_node.h | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/include/iri_base_driver/iri_base_driver_node.h b/include/iri_base_driver/iri_base_driver_node.h
index 0bc5be8..7225f9c 100644
--- a/include/iri_base_driver/iri_base_driver_node.h
+++ b/include/iri_base_driver/iri_base_driver_node.h
@@ -373,13 +373,13 @@ void *IriBaseNodeDriver<Driver>::mainThread(void *param)
template <class Driver>
void IriBaseNodeDriver<Driver>::setRate(double rate_hz)
{
- this->loop_rate_=rate_hz;
+ this->loop_rate_=ros::Rate(rate_hz);
}
template <class Driver>
double IriBaseNodeDriver<Driver>::getRate(void)
{
- return this->loop_rate_;
+ return 1.0/this->loop_rate_.expectedCycleTime().toSec();
}
template <class Driver>
--
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