add queue_size argument to Publisher

ur_driver/src/ur_driver/driver.py

@@ -88,9 +88,9 @@ connected_robot_lock = threading.Lock()
 connected_robot_cond = threading.Condition(connected_robot_lock)
 last_joint_states = None
 last_joint_states_lock = threading.Lock()
-pub_joint_states = rospy.Publisher('joint_states', JointState)
-pub_wrench = rospy.Publisher('wrench', WrenchStamped)
-pub_io_states = rospy.Publisher('io_states', IOStates)
+pub_joint_states = rospy.Publisher('joint_states', JointState, queue_size=1)
+pub_wrench = rospy.Publisher('wrench', WrenchStamped, queue_size=1)
+pub_io_states = rospy.Publisher('io_states', IOStates, queue_size=1)
 #dump_state = open('dump_state', 'wb')
 
 class EOF(Exception): pass

ur_driver/src/ur_driver/testRT_comm.py

@@ -64,9 +64,9 @@ def main():
     rospy.init_node('testRT_comm', disable_signals=True)
     
     global pub_joint_statesRT
-    pub_joint_statesRT = rospy.Publisher('joint_statesRT', JointState)
+    pub_joint_statesRT = rospy.Publisher('joint_statesRT', JointState, queue_size=1)
     global pub_robot_stateRT
-    pub_robot_stateRT = rospy.Publisher('robot_stateRT', RobotStateRTMsg)
+    pub_robot_stateRT = rospy.Publisher('robot_stateRT', RobotStateRTMsg, queue_size=1)
     
     
     

ur_driver/src/ur_driver/test_comm.py

@@ -87,9 +87,9 @@ def main():
     rospy.init_node('test_comm', disable_signals=True)
     
     global pub_masterboard_state
-    pub_masterboard_state = rospy.Publisher('masterboard_state', MasterboardDataMsg)
+    pub_masterboard_state = rospy.Publisher('masterboard_state', MasterboardDataMsg, queue_size=1)
     global pub_io_states
-    pub_io_states = rospy.Publisher('io_states', IOStates)
+    pub_io_states = rospy.Publisher('io_states', IOStates, queue_size=1)
     
     
     robot_hostname = '192.168.0.42'