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sbgisen / vesc

VESC Interface for ROS
Apache License 2.0
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[vesc_hw_interface] Use ros::Time::now() in servo loops #29

Closed ssr-yuki closed 3 years ago

ssr-yuki commented 3 years ago

Change Summary

Use ros::Time::now() to calculate time steps.

Details

Current implementation uses constant time steps, however, this sometimes causes bad convergence with process delay.

In addition, this PR makes some variables private instead of static.