Commit e80797c8 authored by Tim Übelhör's avatar Tim Übelhör
Browse files

improved time_constant config

parent abe52e9c
......@@ -5,7 +5,8 @@ PACKAGE = "tf_low_pass"
gen = ParameterGenerator()
gen.add("time_constant", double_t, 0,
"high time constant leads to smoother signals", 0.2, 0)
"high time constant leads to smoother signals "
"but slower raction times", 0.15, 0)
gen.add("timer_period", double_t, 0,
"time between two filter steps", 0.02, 0)
exit(gen.generate(PACKAGE, "tf_low_pass", "tf_low_pass"))
......@@ -41,7 +41,7 @@ TfLowPass::TfLowPass() : tf_listener(tf_buffer) {
std::placeholders::_1, std::placeholders::_2));
ROS_INFO("dynamic reconfigure initialized");
timer = nh.createTimer(ros::Duration(0.02), &TfLowPass::timer_callback, this);
time_constant = 0.2;
time_constant = 0.15;
ROS_INFO("timer initialized");
}
......
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