fixed clock-rate publisher execution

ctu-mrs · Jan 27, 2025 · 2cdd4c3 · 2cdd4c3
1 parent a3443ce
commit 2cdd4c3
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Showing 2 changed files with 2 additions and 2 deletions.
diff --git a/config/multirotor_simulator.yaml b/config/multirotor_simulator.yaml
@@ -1,5 +1,5 @@
 simulation_rate: 100.0 # Hz
-clock_rate: 100.0 # Hz
+clock_rate: 100.0 # Hz, should be the same rate or lower than the simulation rate
 realtime_factor: 1.0 # [-]
 
 # when true, the simulation time will get initialized from wall time

diff --git a/src/multirotor_simulator.cpp b/src/multirotor_simulator.cpp
@@ -218,7 +218,7 @@ void MultirotorSimulator::timerMain([[maybe_unused]] const ros::WallTimerEvent&
 
   // | ---------------------- publish time ---------------------- |
 
-  if ((sim_time_ - last_published_time_).toSec() >= _clock_min_dt_) {
+  if ((sim_time_ - last_published_time_).toSec() >= _clock_min_dt_*(1.0-1e-6)) {
 
     rosgraph_msgs::Clock ros_time;