![]() I only used the driver.launch for now.It's sufficient for me, and hopefully for you too. Here in this work, I cleaned all of it and only keep a default frequency for all queries. However, it's not the case (or quite complicated). They did also specified 3 separate query frequencies in the config file: frequencyH, frequencyL, and frequencyG.I did major mofifications in this work, making it work at a frequency you want to. It originally worked at a fixed rate of 5 Hz while querying system's states.# firmware_id : ?FID Users can add queries which do not require channel number under queryG tab. Power : ?P #these queries will publish with lower frequency and users can add other queries below power. FrequencyH : 50 #higher frequency (value is in ms)įrequencyG : 100 #frequency for general queriesĮncoder_speed : ?S #these queries will publish with higher frequency and users can add other queries below encoder_speed.
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