From fb2acf20576059b4bee3106e9d4d77575bd59034 Mon Sep 17 00:00:00 2001
From: ipa-fxm <felix.messmer@ipa.fhg.de>
Date: Wed, 22 Oct 2014 13:32:02 +0200
Subject: [PATCH] add queue_size argument to Publisher
---
ur_driver/src/ur_driver/driver.py | 6 +++---
ur_driver/src/ur_driver/testRT_comm.py | 4 ++--
ur_driver/src/ur_driver/test_comm.py | 4 ++--
3 files changed, 7 insertions(+), 7 deletions(-)
diff --git a/ur_driver/src/ur_driver/driver.py b/ur_driver/src/ur_driver/driver.py
index 469e523..f7b92c1 100755
--- a/ur_driver/src/ur_driver/driver.py
+++ b/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
diff --git a/ur_driver/src/ur_driver/testRT_comm.py b/ur_driver/src/ur_driver/testRT_comm.py
index 84c7414..11daffa 100755
--- a/ur_driver/src/ur_driver/testRT_comm.py
+++ b/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)
diff --git a/ur_driver/src/ur_driver/test_comm.py b/ur_driver/src/ur_driver/test_comm.py
index 2938135..1670db8 100755
--- a/ur_driver/src/ur_driver/test_comm.py
+++ b/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'
--
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