Enhance G1JointStatePublisher to support configurable publish rate and improve timing control#166
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openminddev wants to merge 3 commits intomainfrom
Open
Enhance G1JointStatePublisher to support configurable publish rate and improve timing control#166openminddev wants to merge 3 commits intomainfrom
openminddev wants to merge 3 commits intomainfrom
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…d improve timing control
Refactor long inline expressions in g1_jointstate.py into multi-line parenthesized expressions for readability (min_publish_interval and time_since_last_publish). No functional changes; behavior unchanged.
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This pull request enhances the
G1JointStatePublishernode by adding configurable publishing rate control. The main improvement is allowing users to set the rate at which joint state messages are published, preventing excessive publishing and making the node more flexible for different use cases.Publishing rate configuration and control:
publish_rateparameter (default 50 Hz), and calculatedmin_publish_intervalto control how frequently joint states are published. This helps avoid publishing updates too frequently. (g1_jointstate.py)g1_jointstate.py)low_state_callbackto skip publishing if the minimum interval has not elapsed, enforcing the configured rate. (g1_jointstate.py)