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heuristicus / spot_ros

ROS driver for controlling Boston Dynamics' Spot robot
https://heuristicus.github.io/spot_ros/
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Only add camera tasks when needed #102

Closed maubrunn closed 1 year ago

maubrunn commented 1 year ago

I have noticed that we add all camera tasks in the beginning even if there is nothing subscribing to it. This slows down the frequencies of the camera topics a lot. I have added a routine that checks for subscribers to a camera topic and only then adds the task. I have also cleared up some minor bugs that I have come across when working with the driver. All is tested on our spot

maubrunn commented 1 year ago

I have addressed the comments and commited the changes, however I can not test the code at the moment. I think I will be able to do it next week and will merge then.

maubrunn commented 1 year ago

I have tested everything on our spot again. It is now ready to merge in my opinion

heuristicus commented 1 year ago

Thanks for the contribution.