Tweak

Signed-off-by: Carlos Agüero <[email protected]>
gazebosim · Nov 22, 2024 · 0d01a36 · 0d01a36
1 parent d015d4b
commit 0d01a36
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Showing 2 changed files with 10 additions and 7 deletions.
diff --git a/ros_gz_sim_demos/config/navsat.yaml b/ros_gz_sim_demos/config/navsat.yaml
@@ -1,9 +1,6 @@
 # Navsat configuration.
-- ros_topic_name: "/navsat"
-  gz_topic_name: "/navsat"
+- topic_name: "/navsat"
   ros_type_name: "sensor_msgs/msg/NavSatFix"
   gz_type_name: "gz.msgs.NavSat"
-  subscriber_queue: 5
-  publisher_queue: 6
-  lazy: false
+  lazy: true
   direction: GZ_TO_ROS
diff --git a/ros_gz_sim_demos/launch/navsat.launch.xml b/ros_gz_sim_demos/launch/navsat.launch.xml
@@ -1,6 +1,12 @@
 <launch>
-  <gz_server world_sdf_file="spherical_coordinates.sdf" use_composition="True" create_own_container="True" />
-  <ros_gz_bridge bridge_name="ros_gz_bridge" config_file="$(find-pkg-share ros_gz_sim_demos)/config/navsat.yaml" use_composition="True" />
+  <gz_server
+    world_sdf_file="spherical_coordinates.sdf"
+    use_composition="True"
+    create_own_container="True" />
+  <ros_gz_bridge
+    bridge_name="ros_gz_bridge"
+    config_file="$(find-pkg-share ros_gz_sim_demos)/config/navsat.yaml"
+    use_composition="True" />
   <node pkg="rqt_topic" exec="rqt_topic" args="-t" />
   <executable cmd="gz sim -g" />
 </launch>