From 9acf85676b3a55cdc3b71daebeb28dadca1612dd Mon Sep 17 00:00:00 2001 From: Johannes Mey <johannes.mey@tu-dresden.de> Date: Tue, 9 Jun 2020 10:21:06 +0200 Subject: [PATCH] actually add the safety zone --- .../java/de/tudresden/inf/st/ros2rag/starter/StarterMain.java | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) 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 f6939a3..45d7f7f 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 @@ -50,6 +50,7 @@ public class StarterMain { safetyZone.addCoordinate(new Coordinate( IntPosition.of(coordinate[0], coordinate[1], coordinate[2]))); } + zoneModel.addSafetyZone(safetyZone); model.setZoneModel(zoneModel); model.MqttWaitUntilReady(2, TimeUnit.SECONDS); @@ -102,7 +103,7 @@ public class StarterMain { .setEnableOrientation(false) .setEnableTwistAngular(false) .setEnableTwistLinear(false) - .setPublishRate(200) + .setPublishRate(1000) .build(); mainHandler.publish(dataConfigTopic, dataConfig.toByteArray()); } -- GitLab