From cbe3cda59b721f90a0ba1f0fd7465289277879a4 Mon Sep 17 00:00:00 2001 From: Johannes Mey <johannes.mey@tu-dresden.de> Date: Tue, 21 Jul 2020 01:18:24 +0200 Subject: [PATCH] regularly publish zone status, even if it does not change --- src/SafetyZoneMonitor.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/SafetyZoneMonitor.h b/src/SafetyZoneMonitor.h index 85ff823..3731521 100644 --- a/src/SafetyZoneMonitor.h +++ b/src/SafetyZoneMonitor.h @@ -59,7 +59,7 @@ public: for (auto zone : zones) { if (zone.contains(msg.pose.at(link_number).position)) { // the point is contained in the zone, so we can stop checking and send an according message - if (!res || !initialized) { + if ((counter%100==1) || !res || !initialized) { initialized = true; res = true; panda_mqtt_connector::StampedInZone result; @@ -74,7 +74,7 @@ public: } } // no part of the robot is in a zone - if (res || !initialized) { + if ((counter%100==1) || res || !initialized) { ROS_INFO_STREAM("left zone in run " << counter); initialized = true; res = false; -- GitLab