From 3bd716c159eed5c09b581000b7aabbce6368f414 Mon Sep 17 00:00:00 2001
From: Your Name <marko.guberina@control.lth.se>
Date: Tue, 4 Feb 2025 18:32:03 +0100
Subject: [PATCH] frame id has to be a string. can't run at 250Hz, shit brakes
---
python/examples/graz/protobuf_ros1_bridge.py | 2 +-
python/examples/graz/protobuf_to_ros1.py | 7 ++++---
python/examples/graz/ros1_to_protobuf.py | 5 +++--
3 files changed, 8 insertions(+), 6 deletions(-)
diff --git a/python/examples/graz/protobuf_ros1_bridge.py b/python/examples/graz/protobuf_ros1_bridge.py
index 4c412c9..9f2c854 100644
--- a/python/examples/graz/protobuf_ros1_bridge.py
+++ b/python/examples/graz/protobuf_ros1_bridge.py
@@ -167,5 +167,5 @@ if __name__ == "__main__":
wrench_message.wrench.torque.y = pb2_msg.wrench[4]
wrench_message.wrench.torque.z = pb2_msg.wrench[5]
wrench_message.header.stamp = rospy.Time.now()
- wrench_message.header.frame_id = 0
+ wrench_message.header.frame_id = "0"
pub.publish(wrench_message)
diff --git a/python/examples/graz/protobuf_to_ros1.py b/python/examples/graz/protobuf_to_ros1.py
index 0b35f2b..ae11991 100644
--- a/python/examples/graz/protobuf_to_ros1.py
+++ b/python/examples/graz/protobuf_to_ros1.py
@@ -50,6 +50,7 @@ def parse_message(buffer):
# ros parts
+#if False:
if importlib.util.find_spec("rospy"):
ros1_exists = True
rospy.init_node("ur5e_to_ros1_mapper", anonymous=True)
@@ -73,8 +74,8 @@ buffer = b""
while True:
msg_raw = comm_socket.recv(1024)
buffer += msg_raw
- print(msg_raw)
- print(len(msg_raw))
+# print(msg_raw)
+# print(len(msg_raw))
if len(msg_raw) < 1:
continue
msg_in_bytes, pos = parse_message(buffer)
@@ -97,5 +98,5 @@ while True:
wrench_message.wrench.torque.y = pb2_msg.wrench[4]
wrench_message.wrench.torque.z = pb2_msg.wrench[5]
wrench_message.header.stamp = rospy.Time.now()
- wrench_message.header.frame_id = 0
+ wrench_message.header.frame_id = "0"
pub.publish(wrench_message)
diff --git a/python/examples/graz/ros1_to_protobuf.py b/python/examples/graz/ros1_to_protobuf.py
index 23b9a47..96f820a 100644
--- a/python/examples/graz/ros1_to_protobuf.py
+++ b/python/examples/graz/ros1_to_protobuf.py
@@ -55,12 +55,13 @@ def sendRandomForTest(comm_socket):
pb2_msg.position.extend([random.random()] * 3)
pb2_msg.rotation.extend([random.random()] * 4)
pb2_msg.velocity.extend([random.random()] * 6)
- # print(pb2_msg)
+ print(pb2_msg)
msg_length = pb2_msg.ByteSize()
msg_serialized = pb2_msg.SerializeToString()
msg = _VarintBytes(msg_length) + msg_serialized
comm_socket.send(msg)
- time.sleep(0.002)
+ #time.sleep(0.002)
+ time.sleep(0.02)
if __name__ == "__main__":
--
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