- optimized cpu usage by spin loop (by astumpf)

2016-09-21 15:05:16 +09:00
parent 176c64ec67
commit d0de3171d0
1 changed files with 3 additions and 5 deletions
--- a/robotis_controller/src/robotis_controller/robotis_controller.cpp
+++ b/robotis_controller/src/robotis_controller/robotis_controller.cpp
@ -660,11 +660,9 @@ void RobotisController::msgQueueThread()
  ros::ServiceServer joint_module_server = ros_node.advertiseService("/robotis/get_present_joint_ctrl_modules",
                                                        &RobotisController::getCtrlModuleCallback, this);

-  while (ros_node.ok())
-  {
-    callback_queue.callAvailable();
-    usleep(1000);
-  }
+  ros::WallDuration duration(CONTROL_CYCLE_MSEC / 1000.0);
+  while(ros_node.ok())
+    callback_queue.callAvailable(duration);
 }

 void *RobotisController::timerThread(void *param)