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Fix GPS/IMU update rates #723

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merged 1 commit into from
Aug 18, 2023
Merged

Fix GPS/IMU update rates #723

merged 1 commit into from
Aug 18, 2023

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caguero
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@caguero caguero commented Aug 17, 2023 •
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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
Fix GPS/IMU update rates.
e907543 
Signed-off-by: Carlos Agüero <caguero@openrobotics.org>
@caguero caguero mentioned this pull request Aug 17, 2023
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@M1chaelM M1chaelM self-requested a review August 18, 2023 12:45
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M1chaelM approved these changes Aug 18, 2023
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I think this means we're going to do a 3.2.2 release. @caguero Do you agree?

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caguero commented Aug 18, 2023

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.

@caguero caguero merged commit 3d1ecfc into main Aug 18, 2023
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@caguero caguero deleted the caguero/issue_722 branch August 18, 2023 14:04
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@M1chaelM M1chaelM M1chaelM approved these changes

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