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Merge pull request #677 from robotology/fix/wbd-handling-mas
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[WBD] fixed handling of MAS periodicity
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pattacini authored Aug 27, 2020
2 parents 419e019 + 853f4f2 commit 7baee55
Showing 1 changed file with 2 additions and 2 deletions.
4 changes: 2 additions & 2 deletions src/modules/wholeBodyDynamics/main.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -145,7 +145,7 @@ class dataFilter : public PeriodicThread
public:
dataFilter(BufferedPort<Vector> &_port_filtered_output,
IThreeAxisGyroscopes* iGyro,
IThreeAxisLinearAccelerometers* iAcc): PeriodicThread(0.001),
IThreeAxisLinearAccelerometers* iAcc): PeriodicThread(0.01),
port_filtered_output(_port_filtered_output),
m_iGyro(iGyro),
m_iAcc(iAcc)
Expand Down Expand Up @@ -626,7 +626,7 @@ class wholeBodyDynamics: public RFModule
Property masConf {{"device",Value("multipleanalogsensorsclient")},
{"local", Value("/"+local_name+"/inertials")},
{"remote",Value(remoteInertialName)},
{"timeout",Value(0.04)}};
{"timeout",Value(0.1)}};

if (!dd_MASClient.open(masConf))
{
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