From 7b8f6f537251b3ad0842f7e6d9c20050679fdb7a Mon Sep 17 00:00:00 2001 From: texhnolyze Date: Thu, 6 Jul 2023 18:25:50 +0200 Subject: [PATCH] refactor(config): increase rate so queue does not fill up as it only minimally increase cpu usage --- config/udp_bridge.yaml | 3 ++- udp_bridge/sender.py | 2 +- 2 files changed, 3 insertions(+), 2 deletions(-) diff --git a/config/udp_bridge.yaml b/config/udp_bridge.yaml index efaba6e..85a9a63 100644 --- 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 index 5a3675b..a8c0ca9 100755 --- 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.")