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RethinkRobotics / baxter_simulator

Gazebo Simulation interface for the Baxter Research Robot
http://sdk.rethinkrobotics.com/wiki/Baxter_Simulator
BSD 3-Clause "New" or "Revised" License
84 stars 94 forks source link

Kinetic no sleep timer #107

Closed davetcoleman closed 7 years ago

davetcoleman commented 7 years ago

Builds on top of https://github.com/RethinkRobotics/baxter_simulator/pull/106

Previously Baxter took 35 seconds to fully load its controllers because of an arbitrary sleep timer that waited before publishing the face screen image, /robot/state topic, etc. I replaced that with a check to see if Gazebo has subscribed to the /robot/xdisplay topic and if so, proceeding to publish the Baxter logo image and the rest of the topics

This PR is sponsored by Vicarious

IanTheEngineer commented 7 years ago

Looks good. Solid improvement, Dave. Thanks!