From d4eef9d7762bece5e163da5b3d75e72b40f2c63e Mon Sep 17 00:00:00 2001
From: Lisa <robbie@uni-koblenz.de>
Date: Tue, 28 Feb 2017 17:28:15 +0100
Subject: [PATCH] use the loop_rate
---
homer_mapping/src/slam_node.cpp | 9 +++++++--
1 file changed, 7 insertions(+), 2 deletions(-)
diff --git a/homer_mapping/src/slam_node.cpp b/homer_mapping/src/slam_node.cpp
index 0588db58..6153613d 100644
--- a/homer_mapping/src/slam_node.cpp
+++ b/homer_mapping/src/slam_node.cpp
@@ -369,8 +369,13 @@ int main(int argc, char** argv)
SlamNode slamNode(&nh);
- ros::Rate loop_rate(50);
- ros::spin();
+ ros::Rate loop_rate(160);
+
+ while(ros::ok())
+ {
+ ros::spinOnce();
+ loop_rate.sleep();
+ }
return 0;
}
--
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