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Added loop rate to reduce CPU load #7

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Added loop rate to reduce CPU load #7

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7 changes: 7 additions & 0 deletions src/an_driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -56,17 +56,20 @@ int main(int argc, char *argv[]) {
// Set up the COM port
std::string com_port;
int baud_rate;
int loop_rate;
std::string imu_frame_id;
std::string nav_sat_frame_id;
std::string topic_prefix;

if (argc >= 3) {
com_port = std::string(argv[1]);
baud_rate = atoi(argv[2]);
loop_rate = atoi(argv[3]);
}
else {
pnh.param("port", com_port, std::string("/dev/ttyUSB0"));
pnh.param("baud_rate", baud_rate, 115200);
pnh.param("loop_rate", loop_rate, 100);
}

pnh.param("imu_frame_id", imu_frame_id, std::string("imu"));
Expand Down Expand Up @@ -144,6 +147,8 @@ int main(int argc, char *argv[]) {

an_decoder_initialise(&an_decoder);

ros::Rate loop(loop_rate);

// Loop continuously, polling for packets
while (ros::ok())
{
Expand Down Expand Up @@ -416,6 +421,8 @@ int main(int argc, char *argv[]) {
filter_status_pub.publish(filter_status_msg);
}
}

loop_rate.sleep();
}

}
Expand Down