# Revision history [back]

### Sometimes when I publish to cmd_vel node got stuck

Hi! I am working with the ardrone_autonomy package for the Ar.Drone. I have already a code for the control signal and it works great, except for the part when I try to publish the commands in the cmd_vel topic. Normally it publish fast, which is what i need, but sometimes it kinda freeze, for 1 or 2 seconds, and goes back to publishing normally. I dont know why is that happening, und is very important for me to fix that delay, because in that 2 seconds the Drone could crash. Here is the relevant part of the code: Inside the main:

ros::init(argc, argv, "tracker");
ros::NodeHandle nh;
ros::Rate loop_rate(50);


Inside the callback:

ros::NodeHandle neu;
ros::Publisher pub_empty_land;