yikestone/ros_arduino_bridge
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Added queue_size=5 to all publishers

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This commit is contained in:
Patrick Goebel 2015-03-10 19:40:40 -07:00
parent 4f45c3467d
commit 858fa824b7
3 changed files with 7 additions and 7 deletions
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4
ros_arduino_python/nodes/arduino_node.py
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@ -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)

8
ros_arduino_python/src/ros_arduino_python/arduino_sensors.py
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@ -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()

2
ros_arduino_python/src/ros_arduino_python/base_controller.py
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@ -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")