From f9a6d3956dd6b6d95d40a47ea015bae5e1651af2 Mon Sep 17 00:00:00 2001
From: fherrero <fherrero@iri.upc.edu>
Date: Mon, 9 Dec 2019 13:33:26 +0100
Subject: [PATCH] Update the way to set the rate, according to last
iri_base_algorithm version
---
src/visual_gps_alg_node.cpp | 9 +++++++--
1 file changed, 7 insertions(+), 2 deletions(-)
diff --git a/src/visual_gps_alg_node.cpp b/src/visual_gps_alg_node.cpp
index 4b37121..1247e25 100644
--- a/src/visual_gps_alg_node.cpp
+++ b/src/visual_gps_alg_node.cpp
@@ -8,7 +8,7 @@ VisualGpsAlgNode::VisualGpsAlgNode(void) :
//init class attributes if necessary
double rate;
this->private_node_handle_.param<double>("framerate", rate, 10.0);
- this->loop_rate_ = rate;//in [Hz]
+ this->setRate(rate);//in [Hz]
// [init publishers]
this->pose_publisher_ = this->private_node_handle_.advertise<geometry_msgs::PoseStamped>("pose", 1);
@@ -304,7 +304,12 @@ void VisualGpsAlgNode::set_exposure_mutex_exit(void)
void VisualGpsAlgNode::node_config_update(Config &config, uint32_t level)
{
this->alg_.lock();
- this->loop_rate_ = config.framerate;
+ static double last_rate=1;
+ if(last_rate!=config.framerate)
+ {
+ this->setRate(config.framerate);
+ last_rate=config.framerate;
+ }
this->config_=config;
this->alg_.unlock();
--
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