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Added queue_size to publishers to remove warnings. #34

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merged 2 commits into from Dec 1, 2014
Merged

Added queue_size to publishers to remove warnings. #34

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975b94a
Added queue_size to publishers to remove warnings.
IanTheEngineer Nov 19, 2014
68698e3
Reduced queue_size in cuff pub to remove latency
IanTheEngineer Nov 26, 2014
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2 changes: 1 addition & 1 deletion scripts/joint_torque_springs.py
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Expand Up @@ -77,7 +77,7 @@ def __init__(self, limb, reconfig_server):

# create cuff disable publisher
cuff_ns = 'robot/limb/' + limb + '/suppress_cuff_interaction'
self._pub_cuff_disable = rospy.Publisher(cuff_ns, Empty)
self._pub_cuff_disable = rospy.Publisher(cuff_ns, Empty, queue_size=10)
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Make this 1 --- you want this override to "stop" as soon as you are done. No lag.

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fixed!


# verify robot is enabled
print("Getting robot state... ")
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2 changes: 1 addition & 1 deletion scripts/joint_velocity_wobbler.py
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Expand Up @@ -49,7 +49,7 @@ def __init__(self):
'Wobbles' both arms by commanding joint velocities sinusoidally.
"""
self._pub_rate = rospy.Publisher('robot/joint_state_publish_rate',
UInt16)
UInt16, queue_size=10)
self._left_arm = baxter_interface.limb.Limb("left")
self._right_arm = baxter_interface.limb.Limb("right")
self._left_joint_names = self._left_arm.joint_names()
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