Reduced frequencies again

StarlingUAS · Nov 30, 2021 · 44a87e9 · 44a87e9
1 parent de233c7
commit 44a87e9
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/simple_offboard/launch/simple_offboard.launch.xml b/simple_offboard/launch/simple_offboard.launch.xml
@@ -16,7 +16,7 @@
         <param name="reference_frames.$(var vehicle_namespace)/navigate_target" value="map"/>
         <param name="reference_frames.$(var vehicle_namespace)/main_camera_optical" value="map"/>
         <param name="setpoint_rate" value="15.0"/>
-        <param name="tf_broadcast_rate" value="20.0"/>
+        <param name="tf_broadcast_rate" value="10.0"/>
     </node>
 
     <node name="trajectory_handler" pkg="simple_offboard" exec="trajectory_handler" output="screen" respawn="true"/>

diff --git a/simple_offboard/src/simple_offboard.cpp b/simple_offboard/src/simple_offboard.cpp
@@ -294,8 +294,8 @@ SimpleOffboard::SimpleOffboard() :
 	this->get_parameters("reference_frames", this->reference_frames); // Params in format reference_frames.<frame_id>
 
     // Get Timeout parameters
-    setpoint_rate = this->get_timeout_parameter("setpoint_rate", 30.0, true);
-    tf_broadcast_rate = this->get_timeout_parameter("tf_broadcast_rate", 60.0, true);
+    setpoint_rate = this->get_timeout_parameter("setpoint_rate", 15.0, true);
+    tf_broadcast_rate = this->get_timeout_parameter("tf_broadcast_rate", 10.0, true);
     state_timeout = this->get_timeout_parameter("state_timeout", 3.0);
 	local_position_timeout = this->get_timeout_parameter("local_position_timeout", 2.0);
 	velocity_timeout = this->get_timeout_parameter("velocity_timeout", 2.0);