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removing sleep between publishments again, issue should be fixed in mavlink node

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Andreas Antener
2015-03-15 12:48:52 +01:00
parent 7018ff298e
commit 4b65e62595
1 changed files with 1 additions and 2 deletions
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integrationtests/demo_tests/mavros_offboard_attctl_test.py
+1 -2
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@@ -61,7 +61,7 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback) rospy.Subscriber("iris/mavros/position/local", PoseStamped, self.position_callback)
self.pub_att = rospy.Publisher('iris/mavros/setpoint/attitude', PoseStamped, queue_size=10) self.pub_att = rospy.Publisher('iris/mavros/setpoint/attitude', PoseStamped, queue_size=10)
self.pub_thr = rospy.Publisher('iris/mavros/setpoint/att_throttle', Float64, queue_size=10) self.pub_thr = rospy.Publisher('iris/mavros/setpoint/att_throttle', Float64, queue_size=10)
self.rate = rospy.Rate(20) # 10hz self.rate = rospy.Rate(10) # 10hz
self.has_pos = False self.has_pos = False
self.control_mode = vehicle_control_mode() self.control_mode = vehicle_control_mode()
self.local_position = PoseStamped() self.local_position = PoseStamped()
@@ -99,7 +99,6 @@ class MavrosOffboardAttctlTest(unittest.TestCase):
att.header.stamp = rospy.Time.now() att.header.stamp = rospy.Time.now()
self.pub_att.publish(att) self.pub_att.publish(att)
self.rate.sleep() # I'm guessing this is necessary to prevent timing issues
self.pub_thr.publish(throttle) self.pub_thr.publish(throttle)
self.rate.sleep() self.rate.sleep()