From 8e76a12499442fabc3c976bfab9e06a36c3c29c8 Mon Sep 17 00:00:00 2001
From: Olivier Stasse <ostasse@laas.fr>
Date: Sun, 3 Dec 2023 21:51:17 +0100
Subject: [PATCH] [impl_test_sot_external_interface] Set again 1 KHz Use the
callback group from the node python_interpreter.
---
tests/impl_test_sot_external_interface.cpp | 8 ++++++--
1 file changed, 6 insertions(+), 2 deletions(-)
diff --git a/tests/impl_test_sot_external_interface.cpp b/tests/impl_test_sot_external_interface.cpp
index c285411..59fa5fd 100644
--- a/tests/impl_test_sot_external_interface.cpp
+++ b/tests/impl_test_sot_external_interface.cpp
@@ -53,12 +53,16 @@ void ImplTestSotExternalInterface::init() {
RosNodePtr py_inter_ptr = get_ros_node("python_interpreter");
// Set the control time step parameter to 0.001
- double ts = 0.01;
+ double ts = 0.001;
// Publish parameters related to the control interface
py_inter_ptr->declare_parameter<double>("/sot_controller/dt", ts);
// Create services to interact with the embedded python interpreter.
- py_interpreter_srv_->start_ros_service();
+
+ rclcpp::CallbackGroup::SharedPtr reentrant_cb_group;
+ reentrant_cb_group = get_callback_group("python_interpreter");
+ py_interpreter_srv_->start_ros_service(rclcpp::ServicesQoS(),
+ reentrant_cb_group);
// Non blocking spinner to deal with ros.
// Be careful: here with tests we do not care about real time issue.
--
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