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mobile_robotics
wolf_projects
wolf_ros
wolf_ros_node
Commits
4529ceb4
Commit
4529ceb4
authored
4 years ago
by
Joan Vallvé Navarro
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more precise rate of publishing
parent
4b0fb236
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3 merge requests
!11
new release
,
!10
new release
,
!4
Gauss
Changes
1
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1 changed file
include/publisher.h
+10
-4
10 additions, 4 deletions
include/publisher.h
with
10 additions
and
4 deletions
include/publisher.h
+
10
−
4
View file @
4529ceb4
...
...
@@ -48,7 +48,8 @@ class Publisher
const
ParamsServer
&
_server
,
const
ProblemPtr
_problem
)
:
problem_
(
_problem
),
last_publish_time_
(
ros
::
Time
(
0
)),
first_publish_time_
(
ros
::
Time
(
0
)),
n_published_
(
0
),
prefix_
(
"ROS publisher/"
+
_unique_name
)
{
period_
=
_server
.
getParam
<
double
>
(
prefix_
+
"/period"
);
...
...
@@ -72,20 +73,25 @@ class Publisher
ProblemPtr
problem_
;
ros
::
Publisher
publisher_
;
double
period_
;
ros
::
Time
last_publish_time_
;
ros
::
Time
first_publish_time_
;
long
unsigned
int
n_published_
;
std
::
string
prefix_
;
std
::
string
topic_
;
};
inline
void
Publisher
::
publish
()
{
last_publish_time_
=
ros
::
Time
::
now
();
if
(
n_published_
==
0
)
first_publish_time_
=
ros
::
Time
::
now
();
n_published_
++
;
publishDerived
();
}
inline
bool
Publisher
::
ready
()
{
return
(
ros
::
Time
::
now
()
-
last_publish_time_
).
toSec
()
>
period_
;
long
unsigned
int
n_pub
=
(
long
unsigned
int
)((
ros
::
Time
::
now
()
-
first_publish_time_
).
toSec
()
/
period_
);
return
n_pub
>
n_published_
;
}
inline
std
::
string
Publisher
::
getTopic
()
const
...
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