Changed timing of actuator_controls_0 message from rover_pos_control #12519
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julianoes
previously approved these changes
Jul 22, 2019
| if (pret == 0) { | ||
| if (fds[2].revents & POLLIN) { | ||
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| orb_copy(ORB_ID(sensor_combined), _sensor_combined_sub, &_sensor_combined); |
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It's a bit silly but it works 😄
AmeliaEScott
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dagar
approved these changes
Jul 25, 2019
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Describe problem solved by the proposed pull request
The
rover_pos_controlmodule was publishingactuator_controls_0messages at a constant 250Hz, independent of any polling on any other UOrb topic. This was causing issues with Gazebo where it would get slightly out of sync with sensor readings. Closes #12490Test data / coverage
Ran several missions in Gazebo.
Describe your preferred solution
Changed
rover_pos_controlto poll onsensor_combinedto time the publication ofactuator_controls_0. This sensor data is not actually used, it is only necessary for timing.