[ros-users] Patch for stage simulator: setting the topics publishing rate according to the stage-model update_interval parameter

Pablo Iñigo Blasco pabloinigo at atc.us.es
Wed Aug 1 11:15:33 UTC 2012


Here I provide a patch that could be useful for some stageros users.

Stageros usually publishes information through some topics, among them:
odom, scan and base_ground_truth. However these topics publish information
in each simulation step. While it seems a right behavior for the
base_ground_truth information, the odom and scan topics should (IMHO)
publish information at the rate specified with the update_interval
stage-parameter in the stage-world-config file. In this way sensor rate are
well interfaced to the rest of the world nodes.

The patch have been applied over the current head file ---
src/stageros.cpp (revision


Pablo Iñigo Blasco.
Computer Architecture Department. University of Seville (Spain)
http://es.linkedin.com/in/pibgeus |
http://geus.wordpress.com/category/robotics/ <http://geus.wordpress.com/>
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