From 8e109f9e8f3e1dedecd52155669269d5511aa904 Mon Sep 17 00:00:00 2001 From: Mohamed Fazil Date: Wed, 12 Jul 2023 18:57:01 -0700 Subject: [PATCH] Bump trajectory server feedback loop rate to 30Hz --- stretch_core/nodes/joint_trajectory_server.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/stretch_core/nodes/joint_trajectory_server.py b/stretch_core/nodes/joint_trajectory_server.py index cc03c01..7c5c482 100644 --- a/stretch_core/nodes/joint_trajectory_server.py +++ b/stretch_core/nodes/joint_trajectory_server.py @@ -122,7 +122,7 @@ class JointTrajectoryAction: self.node.dirty_command=True goals_reached = [c.goal_reached() for c in self.command_groups] - update_rate = rospy.Rate(15.0) + update_rate = rospy.Rate(30.0) goal_start_time = rospy.Time.now() while not all(goals_reached):