Fix microros udp transprt

Author: rafal-gorecki

include/rosbot_xl/config.hpp

@@ -275,7 +275,7 @@ inline constexpr PIDConfig pid_config = {
 // ───────── ROS ─────────
 inline constexpr const char* NODE_NAME = "rosbot_mcu";
 inline constexpr uint16_t DOMAIN_ID = 255;  // 255 inherit from Micro ROS Agent
-inline constexpr uint32_t SPIN_TIME_MS = 3;
+inline constexpr uint32_t SPIN_TIME_MS = 1;
 inline constexpr uint32_t TIMER_MS = 10;
 inline constexpr uint16_t PING_WATCHDOG_MS = 200;
 inline constexpr uint16_t PING_TIMEOUT_MS = 100;

src/rosbot/ros.cpp

@@ -61,7 +61,7 @@ SubscriptionEntry leds_sub = {
     .type_support = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, UInt8),
     .topic_name = "leds",
     .callback = ledsCallback,
-    .best_effort = false,
+    .best_effort = true,
 };
 
 // Motor commands subscriber

src/rosbot_xl/ros.cpp

@@ -63,7 +63,7 @@ SubscriptionEntry leds_sub = {
     .type_support = ROSIDL_GET_MSG_TYPE_SUPPORT(std_msgs, msg, UInt8),
     .topic_name = "leds",
     .callback = ledsCallback,
-    .best_effort = false,
+    .best_effort = true,
 };
 
 // LED strip subscriber

src/rosbot_xl/rtos.cpp

@@ -62,14 +62,14 @@ void uRosPingTask(void* p);
 TaskConfig tasks[] = {
     {"Encoder", Priority::CONTROL, Stack::XXS, 500, encoderTask},
     {"HwMonitor", Priority::OBSERVING, Stack::S, 10, hwMonitorTask},
-    {"Imu", Priority::SENSORS, Stack::M, 100, imuTask},
+    {"Imu", Priority::SENSORS, Stack::M, 50, imuTask},
     {"LedStrip", Priority::COMMUNICATION, Stack::M, 30, ledStripTask},
 #ifndef RELEASE
     {"Monitor", Priority::BLOCKING, Stack::XL, 1, monitorTask},
 #endif
     {"MotorControl", Priority::CONTROL, Stack::XXS, 200, motorControlTask},
     {"Shutdown", Priority::OBSERVING, Stack::M, 3, shutdownTask},
-    {"uRos", Priority::COMMUNICATION, Stack::XXL, 200, uRosTask},
+    {"uRos", Priority::COMMUNICATION, Stack::XXL, 1000, uRosTask},
 };
 
 TaskHandleWrapper taskHandles[sizeof(tasks) / sizeof(tasks[0])];
@@ -189,7 +189,7 @@ void ledStripTask(void* p) {
 
       last_idle_change = now;
     }
-    vTaskDelayUntil(&wake_time, period);
+    vTaskDelay(period);
   }
 }