[jsk_robot_startup] Fix mongo record subscribe specified rate

jsk-ros-pkg · Jul 3, 2023 · 9f24123 · 9f24123
1 parent 5093a5a
commit 9f24123
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/mongo_record.py b/jsk_robot_common/jsk_robot_startup/src/jsk_robot_startup/lifelog/mongo_record.py
@@ -79,6 +79,10 @@ def callback(self, msg, topic):
         self.insert(msg,
                     meta={'input_topic': topic},
                     wait=self.blocking)
+        # Unregister and register subscriber again to subscribe topic at specified rate
+        # See https://github.com/jsk-ros-pkg/jsk_robot/issues/1838
+        self.subscribers[topic].unregister()
+        del self.subscribers[topic]
 
     def run(self):
         rate = rospy.Rate(self.update_rate)