Introduce sleep in the pose controller

ros-naoqi · Feb 10, 2018 · 2bb282b · 2bb282b
1 parent 372f512
commit 2bb282b
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/naoqi_pose/nodes/pose_controller.py b/naoqi_pose/nodes/pose_controller.py
@@ -58,6 +58,8 @@ def __init__(self):
 
         self.connectNaoQi()
 
+        self.rate = 10
+
         # store the number of joints in each motion chain and collection, used for sanity checks
         self.collectionSize = {}
         for collectionName in ['Head', 'LArm', 'LLeg', 'RLeg', 'RArm', 'Body', 'BodyJoints', 'BodyActuators']:
@@ -435,6 +437,8 @@ def run(self):
                 print e
                 rospy.signal_shutdown("No NaoQI available anymore")
 
+            self.rate.sleep()
+
 if __name__ == '__main__':
 
     controller = PoseController()