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change in loop rate while in update mode

This commit is contained in:
vivek-shankar 2017-01-28 03:41:51 -05:00
parent 4dbd506fbb
commit 6fc6d91ddb
1 changed files with 10 additions and 3 deletions
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13
src/roscontroller.cpp
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@ -68,9 +68,16 @@ namespace rosbzz_node{
/*run once*/ /*run once*/
ros::spinOnce(); ros::spinOnce();
/*loop rate of ros*/ /*loop rate of ros*/
ros::Rate loop_rate(10); if( get_update_mode() == CODE_STANDBY){
/*sleep for the mentioned loop rate*/ ros::Rate loop_rate(2);
loop_rate.sleep(); loop_rate.sleep();
}
else{
ros::Rate loop_rate(10);
loop_rate.sleep();
}
/*sleep for the mentioned loop rate*/
timer_step+=1; timer_step+=1;
maintain_pos(timer_step); maintain_pos(timer_step);