From 1b9bbc81420416a09fb840792fd331a24330b9a8 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Tue, 4 Feb 2020 11:01:56 +0100
Subject: [PATCH] Reduced the timeout. Get the internal driver configuration
mode.
---
src/bno055_imu_ros_driver.cpp | 5 +----
src/bno055_imu_ros_driver_node.cpp | 2 +-
2 files changed, 2 insertions(+), 5 deletions(-)
diff --git a/src/bno055_imu_ros_driver.cpp b/src/bno055_imu_ros_driver.cpp
index f1852fc..e5a3b3f 100644
--- a/src/bno055_imu_ros_driver.cpp
+++ b/src/bno055_imu_ros_driver.cpp
@@ -91,10 +91,7 @@ bool Bno055ImuDriver::stopDriver(void)
op_mode_t Bno055ImuDriver::get_operation_mode(void)
{
- if(this->imu_device!=NULL)
- return this->imu_device->get_operation_mode();
- else
- return config_mode;
+ return (op_mode_t)this->config_.mode;
}
void Bno055ImuDriver::config_update(Config& new_cfg, uint32_t level)
diff --git a/src/bno055_imu_ros_driver_node.cpp b/src/bno055_imu_ros_driver_node.cpp
index c89b5bf..47e2365 100644
--- a/src/bno055_imu_ros_driver_node.cpp
+++ b/src/bno055_imu_ros_driver_node.cpp
@@ -48,7 +48,7 @@ void Bno055ImuDriverNode::mainNodeThread(void)
try{
this->events.clear();
this->events.push_back(this->driver_.get_new_data_event_id());
- this->event_server->wait_all(events,2000);
+ this->event_server->wait_all(events,100);
op_mode=this->driver_.get_operation_mode();
if(op_mode==mag_only_mode || op_mode==acc_mag_mode || op_mode==mag_gyro_mode || op_mode==acc_mag_gyro_mode || op_mode==compass_mode || op_mode==m4g_mode || op_mode==ndof_off_mode || op_mode==ndof_mode)
{
--
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