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open-rmf / free_fleet

A free fleet management system.
Apache License 2.0
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Started using ros2 parameter to define publish state frequency in server #87

Closed aaronchongth closed 3 years ago

aaronchongth commented 3 years ago

Signed-off-by: Aaron Chong aaronchongth@gmail.com

Bug fix

Fixed bug

Closes https://github.com/open-rmf/free_fleet/issues/85

Fix applied

Uses ROS 2 parameterized publish_state_frequency for state publishing frequency, instead of hard coded value.

aaronchongth commented 3 years ago

Mine seems to fluctuate without the fake_client so I believe it is just limited by implementation and our hardware. I'll open another ticket to experiment with the subscribing implementation using waitsets and other functions of the listeners.

aaron@excellence2:~/workspaces/ff_main$ ros2 topic hz /fleet_states 
average rate: 40.273
    min: 0.002s max: 0.062s std dev: 0.01574s window: 41
average rate: 42.827
    min: 0.002s max: 0.065s std dev: 0.01373s window: 87
average rate: 43.515
    min: 0.002s max: 0.082s std dev: 0.01332s window: 132
average rate: 43.936
    min: 0.002s max: 0.082s std dev: 0.01309s window: 178