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Increase arm feedback freq

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ASTRA
2025-05-31 10:01:33 -05:00
parent 6f80d628b1
commit ddb6d672ad
1 changed files with 1 additions and 1 deletions
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src/arm_pkg/arm_pkg/arm_node.py
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@@ -30,7 +30,7 @@ class SerialRelay(Node):
self.debug_pub = self.create_publisher(String, '/arm/feedback/debug', 10) self.debug_pub = self.create_publisher(String, '/arm/feedback/debug', 10)
self.socket_pub = self.create_publisher(SocketFeedback, '/arm/feedback/socket', 10) self.socket_pub = self.create_publisher(SocketFeedback, '/arm/feedback/socket', 10)
self.digit_pub = self.create_publisher(DigitFeedback, '/arm/feedback/digit', 10) self.digit_pub = self.create_publisher(DigitFeedback, '/arm/feedback/digit', 10)
self.feedback_timer = self.create_timer(1.0, self.publish_feedback) self.feedback_timer = self.create_timer(0.25, self.publish_feedback)
# Create subscribers # Create subscribers
self.ik_sub = self.create_subscription(ArmIK, '/arm/control/ik', self.send_ik, 10) self.ik_sub = self.create_subscription(ArmIK, '/arm/control/ik', self.send_ik, 10)