sem/5g_drone_ROS2
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change executor to multi threaded

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Sem van der Hoeven
2023-04-17 17:15:38 +02:00
parent 2f46cb7e26
commit dee4c1f69c
1 changed files with 2 additions and 2 deletions
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4
src/beacon_positioning/src/tracker_position.cpp
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@@ -21,7 +21,7 @@ using namespace std::chrono_literals;
class BeaconPositioningPublisher : public rclcpp::Node class BeaconPositioningPublisher : public rclcpp::Node
{ {
public: public:
BeaconPositioningPublisher() : Node("beacon_positioning_publisher") BeaconPositioningPublisher() : Node("beacon_positioning")
{ {
this->declare_parameter("tracker_serial_port", "/dev/ttyUSB0"); this->declare_parameter("tracker_serial_port", "/dev/ttyUSB0");
@@ -111,7 +111,7 @@ int main(int argc, char **argv)
printf("starting tracker node of beacon_positioning package\n"); printf("starting tracker node of beacon_positioning package\n");
rclcpp::init(argc, argv); rclcpp::init(argc, argv);
rclcpp::executors::SingleThreadedExecutor executor; rclcpp::executors::MultiThreadedExecutor executor;
std::shared_ptr<BeaconPositioningPublisher> node = std::make_shared<BeaconPositioningPublisher>(); std::shared_ptr<BeaconPositioningPublisher> node = std::make_shared<BeaconPositioningPublisher>();
executor.add_node(node); executor.add_node(node);
terabee::RtlsDevice rtls_device(node->get_serial_port()); terabee::RtlsDevice rtls_device(node->get_serial_port());