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services-ros1-xbee_mav
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Decrease buffer size and slowdown send rate

This commit is contained in:
Youssof 2024-06-18 11:54:42 -03:00
parent 2a6fe990bc
commit 3eb368b027
2 changed files with 4 additions and 4 deletions
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6
src/CommunicationManager.cpp
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@ -22,7 +22,7 @@ namespace Xbee
//***************************************************************************** //*****************************************************************************
CommunicationManager::CommunicationManager() : CommunicationManager::CommunicationManager() :
START_DLIMITER(static_cast<unsigned char>(0x7E)), START_DLIMITER(static_cast<unsigned char>(0x7E)),
LOOP_RATE(10), /* 10 fps */ LOOP_RATE(5), /* 5 fps */
DEFAULT_RATE_DIVIDER_RSSI(5), DEFAULT_RATE_DIVIDER_RSSI(5),
DEFAULT_RATE_DIVIDER_PACKET_LOSS(20), DEFAULT_RATE_DIVIDER_PACKET_LOSS(20),
DEFAULT_RSSI_PAYLOAD_SIZE(10), DEFAULT_RSSI_PAYLOAD_SIZE(10),
@ -427,7 +427,7 @@ bool CommunicationManager::getRosParams()
if (node_handle_.getParam("Xbee_In_From_Buzz", out_messages_topic)) if (node_handle_.getParam("Xbee_In_From_Buzz", out_messages_topic))
{ {
mavlink_subscriber_ = node_handle_.subscribe(out_messages_topic.c_str(), 100, mavlink_subscriber_ = node_handle_.subscribe(out_messages_topic.c_str(), 10,
&CommunicationManager::Send_Mavlink_Message_Callback, this); &CommunicationManager::Send_Mavlink_Message_Callback, this);
success_get_param_in_topic = true; success_get_param_in_topic = true;
} }
@ -439,7 +439,7 @@ bool CommunicationManager::getRosParams()
if (node_handle_.getParam("Xbee_Out_To_Buzz", in_messages_topic)) if (node_handle_.getParam("Xbee_Out_To_Buzz", in_messages_topic))
{ {
mavlink_publisher_ = node_handle_.advertise<mavros_msgs::Mavlink>( mavlink_publisher_ = node_handle_.advertise<mavros_msgs::Mavlink>(
in_messages_topic.c_str(), 100); in_messages_topic.c_str(), 10);
success_get_param_out_topic = true; success_get_param_out_topic = true;
} }
else else

2
src/Xbee.cpp
View File

@ -47,7 +47,7 @@ int main(int argc, char *argv[]) {
//setupXBee(device, static_cast<std::size_t>(baud_rate)); //setupXBee(device, static_cast<std::size_t>(baud_rate));
std::cout << "Going to init !!!!" << std::endl; std::cout << "Initializing..." << std::endl;
if (communication_manager.Init(device, static_cast<std::size_t>(baud_rate))) if (communication_manager.Init(device, static_cast<std::size_t>(baud_rate)))
{ {