From 858fa824b749224ffcb1c9a3c5ddd949867a6fa4 Mon Sep 17 00:00:00 2001 From: Patrick Goebel Date: Tue, 10 Mar 2015 19:40:40 -0700 Subject: [PATCH] Added queue_size=5 to all publishers --- ros_arduino_python/nodes/arduino_node.py | 4 ++-- .../src/ros_arduino_python/arduino_sensors.py | 8 ++++---- .../src/ros_arduino_python/base_controller.py | 2 +- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/ros_arduino_python/nodes/arduino_node.py b/ros_arduino_python/nodes/arduino_node.py index e379615..7925e69 100755 --- a/ros_arduino_python/nodes/arduino_node.py +++ b/ros_arduino_python/nodes/arduino_node.py @@ -59,11 +59,11 @@ class ArduinoROS(): self.cmd_vel = Twist() # A cmd_vel publisher so we can stop the robot when shutting down - self.cmd_vel_pub = rospy.Publisher('cmd_vel', Twist) + self.cmd_vel_pub = rospy.Publisher('cmd_vel', Twist, queue_size=5) # The SensorState publisher periodically publishes the values of all sensors on # a single topic. - self.sensorStatePub = rospy.Publisher('~sensor_state', SensorState) + self.sensorStatePub = rospy.Publisher('~sensor_state', SensorState, queue_size=5) # A service to position a PWM servo rospy.Service('~servo_write', ServoWrite, self.ServoWriteHandler) diff --git a/ros_arduino_python/src/ros_arduino_python/arduino_sensors.py b/ros_arduino_python/src/ros_arduino_python/arduino_sensors.py index 51a7916..f8f17d4 100755 --- a/ros_arduino_python/src/ros_arduino_python/arduino_sensors.py +++ b/ros_arduino_python/src/ros_arduino_python/arduino_sensors.py @@ -87,7 +87,7 @@ class AnalogSensor(Sensor): self.msg = Analog() self.msg.header.frame_id = self.frame_id - self.pub = rospy.Publisher("~sensor/" + self.name, Analog) + self.pub = rospy.Publisher("~sensor/" + self.name, Analog, queue_size=5) if self.direction == "output": self.controller.pin_mode(self.pin, OUTPUT) @@ -111,7 +111,7 @@ class AnalogFloatSensor(Sensor): self.msg = AnalogFloat() self.msg.header.frame_id = self.frame_id - self.pub = rospy.Publisher("~sensor/" + self.name, AnalogFloat) + self.pub = rospy.Publisher("~sensor/" + self.name, AnalogFloat, queue_size=5) if self.direction == "output": self.controller.pin_mode(self.pin, OUTPUT) @@ -136,7 +136,7 @@ class DigitalSensor(Sensor): self.msg = Digital() self.msg.header.frame_id = self.frame_id - self.pub = rospy.Publisher("~sensor/" + self.name, Digital) + self.pub = rospy.Publisher("~sensor/" + self.name, Digital, queue_size=5) if self.direction == "output": self.controller.pin_mode(self.pin, OUTPUT) @@ -163,7 +163,7 @@ class RangeSensor(Sensor): self.msg = Range() self.msg.header.frame_id = self.frame_id - self.pub = rospy.Publisher("~sensor/" + self.name, Range) + self.pub = rospy.Publisher("~sensor/" + self.name, Range, queue_size=5) def read_value(self): self.msg.header.stamp = rospy.Time.now() diff --git a/ros_arduino_python/src/ros_arduino_python/base_controller.py b/ros_arduino_python/src/ros_arduino_python/base_controller.py index 246be0f..813e873 100755 --- a/ros_arduino_python/src/ros_arduino_python/base_controller.py +++ b/ros_arduino_python/src/ros_arduino_python/base_controller.py @@ -87,7 +87,7 @@ class BaseController: self.arduino.reset_encoders() # Set up the odometry broadcaster - self.odomPub = rospy.Publisher('odom', Odometry) + self.odomPub = rospy.Publisher('odom', Odometry, queue_size=5) self.odomBroadcaster = TransformBroadcaster() rospy.loginfo("Started base controller for a base of " + str(self.wheel_track) + "m wide with " + str(self.encoder_resolution) + " ticks per rev")