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ros::Rate loop_rate(8); // 8Hz
while(ros::ok())
{
Kalman_Filter.filter_control();
ros::spin_once();
loop_rate.sleep();
}
The function Kalman_Filter.filter_control() is a state machine and one state runs on 1Hz, while the rest of the code runs on 8Hz. Will this crash loop_rate.sleep()?
No (or at least: not because the code takes too long, there could still be other problems with it of course).
It will just mean that loop_rate.sleep() will return immediately after the "one state [that] runs on 1Hz" has finished, as there is no more time to sleep.
The function Kalman_Filter.filter_control() is a state machine and one state runs on 1Hz, while the rest of the code runs on 8Hz. Will this crash loop_rate.sleep()?
What makes you wonder whether it will crash? Also: what is a crash for you?
Asked: 2019-04-21 13:54:57 -0500
Seen: 509 times
Last updated: Apr 22 '19
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