From 63bd36e106afd7a6166b3828cbff0f19139c3982 Mon Sep 17 00:00:00 2001
From: Alexander Entinger <consulting@lxrobotics.com>
Date: Wed, 29 Nov 2023 12:00:32 +0100
Subject: [PATCH] Decrease Cyphal spinSome loop to 100 Hz.

---
 include/t07_robot/Node.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/include/t07_robot/Node.h b/include/t07_robot/Node.h
index b95cac8..ef0fc24 100644
--- a/include/t07_robot/Node.h
+++ b/include/t07_robot/Node.h
@@ -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;