add tcp_nodelay for python nodes too

itu-auv · Dec 28, 2024 · 82756c7 · 82756c7
1 parent 719d419
commit 82756c7
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Showing 6 changed files with 13 additions and 9 deletions.
diff --git a/auv_common_lib/python/auv_common_lib/control/enable_state.py b/auv_common_lib/python/auv_common_lib/control/enable_state.py
@@ -7,7 +7,9 @@ def __init__(self, timeout_duration):
         self.enable = False
         self.timeout_duration = rospy.Duration(timeout_duration)
         self.last_enable_time = rospy.Time.now()
-        rospy.Subscriber("enable", std_msgs.msg.Bool, self._enable_callback)
+        rospy.Subscriber(
+            "enable", std_msgs.msg.Bool, self._enable_callback, tcp_nodelay=True
+        )
 
     def _enable_callback(self, msg):
         self.enable = msg.data

diff --git a/auv_common_lib/python/auv_common_lib/spatial/velocity_transform.py b/auv_common_lib/python/auv_common_lib/spatial/velocity_transform.py
@@ -13,7 +13,9 @@ def __init__(self, source_frame: str):
         self.transformer = auv_common_lib.transform.transformer.Transformer()
         self.source_frame = source_frame
 
-        rospy.Subscriber("imu/data", sensor_msgs.msg.Imu, self.imu_data_callback)
+        rospy.Subscriber(
+            "imu/data", sensor_msgs.msg.Imu, self.imu_data_callback, tcp_nodelay=True
+        )
 
     def imu_data_callback(self, data: sensor_msgs.msg.Imu):
         angular_rate_raw = np.array(

diff --git a/auv_control/auv_control/scripts/depth_controller_node.py b/auv_control/auv_control/scripts/depth_controller_node.py
@@ -14,14 +14,14 @@ def __init__(self):
 
         # Initialize subscribers
         self.odometry_sub = rospy.Subscriber(
-            "/taluy/odometry", Odometry, self.odometry_callback
+            "/taluy/odometry", Odometry, self.odometry_callback, tcp_nodelay=True
         )
         self.set_depth_service = rospy.Service(
             "/taluy/set_depth", SetDepth, self.target_depth_handler
         )
 
         # Initialize publisher
-        self.cmd_pose_pub = rospy.Publisher("/taluy/cmd_pose", Pose, queue_size=10)
+        self.cmd_pose_pub = rospy.Publisher("/taluy/cmd_pose", Pose, queue_size=1)
 
         # Initialize internal state
         self.target_depth = 0.0

diff --git a/auv_navigation/auv_localization/scripts/dvl_odometry_node.py b/auv_navigation/auv_localization/scripts/dvl_odometry_node.py
@@ -30,13 +30,13 @@ def __init__(self):
 
         # Subscribers and Publishers
         self.dvl_velocity_subscriber = message_filters.Subscriber(
-            "sensors/dvl/velocity_raw", Twist
+            "sensors/dvl/velocity_raw", Twist, tcp_no_delay=True
         )
         self.is_valid_subscriber = message_filters.Subscriber(
-            "sensors/dvl/is_valid", Bool
+            "sensors/dvl/is_valid", Bool, tcp_no_delay=True
         )
         self.cmd_vel_subscriber = rospy.Subscriber(
-            "cmd_vel", Twist, self.cmd_vel_callback
+            "cmd_vel", Twist, self.cmd_vel_callback, tcp_nodelay=True
         )
 
         self.sync = message_filters.ApproximateTimeSynchronizer(

diff --git a/auv_navigation/auv_localization/scripts/imu_odometry_node.py b/auv_navigation/auv_localization/scripts/imu_odometry_node.py
@@ -19,7 +19,7 @@ def __init__(self):
         )
         # Subscribers and Publishers
         self.imu_subscriber = rospy.Subscriber(
-            "sensors/imu/data", Imu, self.imu_callback
+            "sensors/imu/data", Imu, self.imu_callback, tcp_nodelay=True
         )
         self.odom_publisher = rospy.Publisher(
             "localization/odom_imu", Odometry, queue_size=10

diff --git a/auv_navigation/auv_localization/scripts/pressure_odometry_node.py b/auv_navigation/auv_localization/scripts/pressure_odometry_node.py
@@ -44,7 +44,7 @@ def __init__(self):
         rospy.loginfo(
             f"{pressure_odometry_colored} : depth covariance: {self.depth_calibration_covariance}"
         )
-        self.depth_subscriber = rospy.Subscriber("depth", Float32, self.depth_callback)
+        self.depth_subscriber = rospy.Subscriber("depth", Float32, self.depth_callback, tcp_nodelay=True)
 
     def depth_callback(self, depth_msg):
         # Fill the odometry message with depth data as the z component of the linear position