Fix timer frequency to 20 Hz

szepilot · szepilot · commit 64dde7e8ecc9 · 2024-08-30T15:12:08.000+02:00
diff --git a/src/pcl_merger.cpp b/src/pcl_merger.cpp
@@ -47,7 +47,7 @@ namespace merger
             initPointCloudPtrList();
 
             // subscriber and publisher declarations
-            timer_pub = this->create_wall_timer(50ms, std::bind(&OusterPCLMerger::mergedPCLPubCallback, this));
+            timer_pub = this->create_wall_timer(50ms, std::bind(&OusterPCLMerger::mergedPCLPubCallback, this)); // TODO: this is fix 20 hz, make it param https://github.com/jkk-research/lexus_bringup/issues/15
             initSubscribers();
             this->merged_pcl_pub = this->create_publisher<sensor_msgs::msg::PointCloud2>(pub_topic_name, 1);
         }

Original file line number	Diff line number	Diff line change
`@@ -47,7 +47,7 @@ namespace merger`
`47`	`47`	`initPointCloudPtrList();`
`48`	`48`
`49`	`49`	`// subscriber and publisher declarations`
`50`		`- timer_pub = this->create_wall_timer(50ms, std::bind(&OusterPCLMerger::mergedPCLPubCallback, this));`
	`50`	`+ timer_pub = this->create_wall_timer(50ms, std::bind(&OusterPCLMerger::mergedPCLPubCallback, this)); // TODO: this is fix 20 hz, make it param https://github.com/jkk-research/lexus_bringup/issues/15`
`51`	`51`	`initSubscribers();`
`52`	`52`	`this->merged_pcl_pub = this->create_publisher<sensor_msgs::msg::PointCloud2>(pub_topic_name, 1);`
`53`	`53`	`}`