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

[Pablo Iñigo Blasco]

Done.

https://code.ros.org/trac/ros-pkg/ticket/5510

On Wed, Aug 1, 2012 at 2:24 PM, Jack O'Quin <jack.oquin at gmail.com> wrote:

> On Wed, Aug 1, 2012 at 6:15 AM, Pablo Iñigo Blasco <pabloinigo at atc.us.es>
> wrote:
> > Hi!
> >
> > 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 39760).
>
> Thanks for the patch. It sounds like a good idea.
>
> To make sure it does not get lost, would you please open a stage
> enhancement ticket with this patch appended?
> --
>  joq
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-- 
Pablo Iñigo Blasco.
http://geus.wordpress.com
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