Merge pull request #40 from benmaidel/feature/configure_polling_rate

configurable polling rate
mojin-robotics · Jul 17, 2024 · 1f96125 · 1f96125
2 parents 6bf72df + 22604d5
commit 1f96125
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/flexbe_core/src/flexbe_core/core/concurrency_container.py b/flexbe_core/src/flexbe_core/core/concurrency_container.py
@@ -20,7 +20,7 @@ def __init__(self, conditions=dict(), *args, **kwargs):
         super(ConcurrencyContainer, self).__init__(*args, **kwargs)
         self._conditions = conditions
         self._returned_outcomes = dict()
-        self._rate = rospy.Rate(100)
+        self._rate = rospy.Rate(200)
 
     def sleep(self):
         self.wait(seconds=self.sleep_duration)

diff --git a/flexbe_core/src/flexbe_core/core/ros_state.py b/flexbe_core/src/flexbe_core/core/ros_state.py
@@ -12,7 +12,8 @@ class RosState(State):
 
     def __init__(self, *args, **kwargs):
         super(RosState, self).__init__(*args, **kwargs)
-        self._rate = rospy.Rate(10)
+        self._polling_rate = rospy.get_param_cached('/flexbe/polling_rate', 10)
+        self._rate = rospy.Rate(self._polling_rate)
         self._is_controlled = False
 
         self._pub = ProxyPublisher()