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osrf / vrx

Virtual RobotX (VRX) resources.
Apache License 2.0
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Fix GPS/IMU update rates #723

Closed caguero closed 10 months ago

caguero commented 10 months ago

See issue #722 .

How to test it?

Launch the simulation:

ros2 launch vrx_gz competition.launch.py world:=sydney_regatta

And verify the publication rates:

ros2 topic hz /wamv/sensors/gps/gps/fix
ros2 topic hz /wamv/sensors/imu/imu/data

They should be close to 20Hz and 100Hz respectively. Take into account that if the real time factor is lower than 100%, the values reported from topic hz should be proportionally lower.

caguero commented 10 months ago

I think this means we're going to do a 3.2.2 release. @caguero Do you agree?

Indeed, this is an important fix to justify a 3.2.2 release.