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Queue more msgs to make sure get enough time to takeoff crazyflie #151

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Queue more msgs to make sure get enough time to takeoff crazyflie #151

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9212672
Queue moere msgs to make sure get enough time to takeoff crazyflie
tyuezhan Dec 9, 2022
9fb98c2
Make motors on msg queue number a param, with default value same as b…
tyuezhan Dec 12, 2022
cfa8523
Merge branch 'KumarRobotics:master' into master
tyuezhan Jun 6, 2023
06dae8f
Merge branch 'KumarRobotics:master' into master
tyuezhan Jul 24, 2023
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3 changes: 3 additions & 0 deletions kr_mav_manager/include/kr_mav_manager/manager.h
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Original file line number Diff line number Diff line change
Expand Up @@ -188,6 +188,9 @@ class MAVManager

// Services
ros::ServiceClient srv_transition_;

// Params
int motors_msg_queue_num_;
};

} // namespace kr_mav_manager
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5 changes: 4 additions & 1 deletion kr_mav_manager/src/manager.cpp
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Expand Up @@ -135,6 +135,9 @@ MAVManager::MAVManager(std::string ns)
// Disable motors
if(!this->set_motors(false))
ROS_ERROR("Could not disable motors");

// Params
nh_.param<int>("motors_msg_queue_num", motors_msg_queue_num_, 10);
}

void MAVManager::tracker_done_callback(const actionlib::SimpleClientGoalState &state,
Expand Down Expand Up @@ -624,7 +627,7 @@ bool MAVManager::set_motors(bool motors)
// Queue a few to make sure the signal gets through.
// Also, the crazyflie interface throttles commands to 30 Hz, so this needs
// to have a sufficent duration.
for(int i = 0; i < 10; i++)
for(int i = 0; i < motors_msg_queue_num_; i++)
{
pub_so3_command_.publish(so3_cmd);
pub_trpy_command_.publish(trpy_cmd);
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