Merge pull request #1379 from tier4/fix/hard-coded-update-rate

fix(mock): hard-coded update rate
tier4 · Sep 13, 2024 · 2da5c9e · 2da5c9e
2 parents e78981c + f6ef3c9
commit 2da5c9e
Showing 1 changed file with 3 additions and 2 deletions.
diff --git a/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp b/mock/cpp_mock_scenarios/src/cpp_scenario_node.cpp
@@ -64,8 +64,9 @@ void CppScenarioNode::start()
 {
   onInitialize();
   api_.startNpcLogic();
-  using namespace std::chrono_literals;
-  update_timer_ = this->create_wall_timer(50ms, std::bind(&CppScenarioNode::update, this));
+  const auto rate =
+    std::chrono::duration<double>(1.0 / get_parameter("global_frame_rate").as_double());
+  update_timer_ = this->create_wall_timer(rate, std::bind(&CppScenarioNode::update, this));
 }
 
 void CppScenarioNode::stop(Result result, const std::string & description)