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Set CPM sender interval to 100ms

This commit is contained in:
Yu Asabe 2021-12-05 14:16:56 +09:00
parent c3766f5f83
commit 3dad90566f
1 changed files with 2 additions and 1 deletions
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3
src/cpm_application.cpp
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@ -44,7 +44,7 @@ namespace v2x
sending_(false) sending_(false)
{ {
RCLCPP_INFO(node_->get_logger(), "CpmApplication started..."); RCLCPP_INFO(node_->get_logger(), "CpmApplication started...");
set_interval(milliseconds(1000)); set_interval(milliseconds(100));
} }
void CpmApplication::set_interval(Clock::duration interval) void CpmApplication::set_interval(Clock::duration interval)
@ -166,6 +166,7 @@ namespace v2x
{ {
generationDeltaTime_ = *gdt; generationDeltaTime_ = *gdt;
gdt_timestamp_ = *gdt_timestamp; gdt_timestamp_ = *gdt_timestamp;
RCLCPP_INFO(node_->get_logger(), "[updateGDT] %d %ld", generationDeltaTime_, gdt_timestamp_);
} }
void CpmApplication::updateHeading(double *yaw) void CpmApplication::updateHeading(double *yaw)