From 127313aea06869045199b5cf8bf75399b3ca6c77 Mon Sep 17 00:00:00 2001
From: Benjamin Klaus <klaus@technikum-wien.at>
Date: Wed, 1 Apr 2020 13:39:14 +0200
Subject: [PATCH] sleep 0.5s while waiting for controllers to connect in order
 to avoid high CPU usage

---
 src/keyboard_teleop.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/src/keyboard_teleop.cpp b/src/keyboard_teleop.cpp
index b83d771..2e2b77b 100644
--- a/src/keyboard_teleop.cpp
+++ b/src/keyboard_teleop.cpp
@@ -118,8 +118,7 @@ int main(int argc, char **argv) {
   ros::Subscriber nameSub = n.subscribe("model_name", 100, controllerNameCallback);
   while (controllerCount == 0 || controllerCount < nameSub.getNumPublishers()) {
     ros::spinOnce();
-    ros::spinOnce();
-    ros::spinOnce();
+    ros::Duration(0.5).sleep();
   }
   ros::spinOnce();