Merge pull request #24 from bit-bots/fix/overflowing-queue

refactor(config): increase rate so queue does not fill up
bit-bots · Jul 6, 2023 · a2268f9 · a2268f9
2 parents 627a709 + 7b8f6f5
commit a2268f9
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Showing 2 changed files with 3 additions and 2 deletions.
diff --git a/config/udp_bridge.yaml b/config/udp_bridge.yaml
@@ -2,7 +2,7 @@
   ros__parameters:
     encryption_key: "robocup2023"
     port: 1234
-    send_frequency: 10
+    send_frequency: 300
     sender_queue_max_size: 5
 
     topics:
@@ -15,6 +15,7 @@
       - /debug/dsd/hcm
       - /team_data
       - /balls_relative
+      - /debug/viz_ball
       - /robots_relative
       - /gamestate
       - /animation

diff --git a/udp_bridge/sender.py b/udp_bridge/sender.py
@@ -77,7 +77,7 @@ def __message_callback(self, data):
         )
 
         try:
-            self.queue.put(encrypted_msg, block=True, timeout=0.5)
+            self.queue.put(encrypted_msg, block=True, timeout=1)
         except Full:
             self.node.get_logger().warn(f"Could not enqueue new message of topic {self.topic}. Queue full.")