From 465ddf3b3fe4f8bb775ff0d8e7bf30e603ad98e5 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Mon, 29 Jun 2020 13:29:41 +0200
Subject: [PATCH] update mapping rule

---
 ros2rag.starter/src/main/jastadd/Definitions.ros2rag            | 2 +-
 .../java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java   | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/ros2rag.starter/src/main/jastadd/Definitions.ros2rag b/ros2rag.starter/src/main/jastadd/Definitions.ros2rag
index 8706219..0498332 100644
--- a/ros2rag.starter/src/main/jastadd/Definitions.ros2rag
+++ b/ros2rag.starter/src/main/jastadd/Definitions.ros2rag
@@ -19,7 +19,7 @@ SerializeRobotConfig maps config.Robotconfig.RobotConfig rc to byte[] {:
 
 LinkStateToIntPosition maps panda.Linkstate.PandaLinkState pls to IntPosition {:
   panda.Linkstate.PandaLinkState.Position p = pls.getPos();
-  return IntPosition.of((int) (p.getPositionX() * 10), (int) (p.getPositionY() * 10), (int) (p.getPositionZ() * 10));
+  return IntPosition.of((int) (Math.round(p.getPositionX() * 2)), (int) (Math.round(p.getPositionY() * 2)), (int) (Math.round(p.getPositionZ() * 2 + 0.5)));
 :}
 
 CreateSpeedMessage maps double speed to config.Robotconfig.RobotConfig {:
diff --git a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
index d43ce49..8c8919d 100644
--- a/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
+++ b/ros2rag.starter/src/main/java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java
@@ -102,7 +102,7 @@ public class StarterMain {
         .setEnableOrientation(false)
         .setEnableTwistAngular(false)
         .setEnableTwistLinear(false)
-        .setPublishRate(1000)
+        .setPublishRate(100)
         .build();
     mainHandler.publish(dataConfigTopic, dataConfig.toByteArray());
   }
-- 
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