Merge pull request tum-vision#6 from garyservin/algron

Remove tf_prefix and make simulated navdata frequency smaller
thinclab · Sep 22, 2014 · 3e87e31 · 3e87e31
2 parents 1835e4f + 674fbcb
commit 3e87e31
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/cvg_sim_gazebo/launch/spawn_quadrotor.launch b/cvg_sim_gazebo/launch/spawn_quadrotor.launch
@@ -28,7 +28,7 @@
    <!-- start robot state publisher -->
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
      <param name="publish_frequency" type="double" value="50.0" />
-     <param name="tf_prefix" type="string" value="" />
+     <!--param name="tf_prefix" type="string" value="" /-->
    </node>
 
    <node name="ground_truth_to_tf" pkg="message_to_tf" type="message_to_tf" output="screen">

diff --git a/cvg_sim_gazebo_plugins/src/quadrotor_state_controller.cpp b/cvg_sim_gazebo_plugins/src/quadrotor_state_controller.cpp
@@ -311,7 +311,7 @@ void GazeboQuadrotorStateController::Update()
   common::Time sim_time = world->GetSimTime();
   double dt = (sim_time - last_time).Double();
   // Update rate is 200/per second
-  if (dt < 0.005) return;
+  if (dt < 0.02) return;
 
   // Get Pose/Orientation from Gazebo (if no state subscriber is active)
   if (imu_topic_.empty()) {