[Spinal] increase the imu pub rate from 200Hz to 500Hz

jsk-ros-pkg · Jun 15, 2024 · 7c1fca0 · 7c1fca0
1 parent 0dcb3f4
commit 7c1fca0
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/...al_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/attitude/attitude_estimate.h b/...al_robot_nerve/spinal/mcu_project/lib/Jsk_Lib/state_estimate/attitude/attitude_estimate.h
@@ -238,7 +238,7 @@ class AttitudeEstimate
   inline const ap::Vector3f getSmoothAngular(uint8_t frame) { return estimator_->getSmoothAngular(frame); }
   inline const ap::Matrix3f getDesiredCoord()  { return estimator_->getDesiredCoord(); }
 
-  static const uint8_t IMU_PUB_INTERVAL = 5; //10-> 100Hz, 2 -> 500Hz
+  static const uint8_t IMU_PUB_INTERVAL = 2; //10-> 100Hz, 2 -> 500Hz
   static const uint8_t ATTITUDE_PUB_INTERVAL = 100; //100 -> 10Hz
 
 private: