From d0de3171d0122f190eeae9506b4cf21729496123 Mon Sep 17 00:00:00 2001 From: ROBOTIS-zerom Date: Wed, 21 Sep 2016 15:05:16 +0900 Subject: [PATCH] - optimized cpu usage by spin loop (by astumpf) --- .../src/robotis_controller/robotis_controller.cpp | 8 +++----- 1 file changed, 3 insertions(+), 5 deletions(-) diff --git a/robotis_controller/src/robotis_controller/robotis_controller.cpp b/robotis_controller/src/robotis_controller/robotis_controller.cpp index ccbdec0..89a4751 100644 --- 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)