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Decrease Cyphal spinSome loop to 100 Hz.
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aentinger committed Nov 29, 2023
1 parent 589ce13 commit 63bd36e
Showing 1 changed file with 1 addition and 1 deletion.
2 changes: 1 addition & 1 deletion include/t07_robot/Node.h
Original file line number Diff line number Diff line change
Expand Up @@ -52,7 +52,7 @@ class Node : public rclcpp::Node
std::mutex _node_mtx;
std::chrono::steady_clock::time_point const _node_start;
std::unique_ptr<CanManager> _can_mgr;
static std::chrono::milliseconds constexpr NODE_LOOP_RATE{1};
static std::chrono::milliseconds constexpr NODE_LOOP_RATE{10};
rclcpp::TimerBase::SharedPtr _node_loop_timer;

cyphal::Publisher<uavcan::node::Heartbeat_1_0> _cyphal_heartbeat_pub;
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