sim: Updated ros2 publishing times

The publishing interval of the odom tf was causing issues in the costmaps. Also incrased the publishing rate of lidar
dervelakos · Jan 18, 2025 · b11b2e4 · b11b2e4
1 parent 0032423
commit b11b2e4
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/src/RosNodes.py b/src/RosNodes.py
@@ -51,7 +51,7 @@ def __init__(self, vehicle, topicPrefix):
 
         self.tf_broadcaster = TransformBroadcaster(self)
 
-        self.timer = self.create_timer(0.5, self.timerCallback)
+        self.timer = self.create_timer(0.03, self.timerCallback)
 
     def broadcastTransform(self):
         # Broadcast TF

diff --git a/src/Sensors.py b/src/Sensors.py
@@ -74,7 +74,7 @@ def calculateIntersection(x, y, dirX, dirY, obj):
 
 class Lidar:
     def __init__(self, simEngine, vehicle, rosNode=None,
-                 numRays=360, rayAngleIncrement=1, interval=1/60):
+                 numRays=360, rayAngleIncrement=1, interval=2/60):
         self.numRays = numRays
         self.rayAngleIncrement = rayAngleIncrement