dawonn / vectornav

ROS Interface for the VectorNav IMU/GPS

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Unexpected update frequencies in ROS2 driver #103

Open tgrubes opened 2 years ago

tgrubes commented 2 years ago

I'm having very similar problems to that mentioned in #65.

Despite the rate divisors for each binary output register passing as commands to a vn300, all topics seem to publish at the rate of B01. This happens regardless of settings for the asynchronous data output.

65 seems to have been fixed in ROS1 with merge request #70. Has there been a fix for this in ROS2?

berndpfrommer commented 2 years ago

have you tried porting the fix from #70 over? It's really just a few lines of code that need to change.