wait 3s for ros to register and establish all subscriber connections

before sending reset diag message

diff --git a/launch/3dsensor.launch b/launch/3dsensor.launch
index 2ff5d39893478b7a39a71afb08263eb2fe25832b..116a631d7fd19f7017f2e0692f41134138c03257 100644 (file)
--- a/launch/3dsensor.launch
+++ b/launch/3dsensor.launch
@@ -1,9 +1,6 @@
 <?xml version="1.0"?>
 <launch>
        <include file="$(find openni2_launch)/launch/openni2.launch">
-               <arg name="depth_processing" value="true" />
-               <arg name="rgb_processing" value="true" />
-               <arg name="depth_registered_processing" value="true" />
                <arg name="depth_registration" value="true" />
        </include>
        <param name="/camera/driver/depth_mode" value="11" />

diff --git a/scripts/wt_node.py b/scripts/wt_node.py
index 612d5e3663340e1ad6b916ad97db4242d80c019e..a5978b032850342b1a0e3ad04e03f72a408ba584 100755 (executable)
--- a/scripts/wt_node.py
+++ b/scripts/wt_node.py
@@ -74,6 +74,7 @@ class MoveBase:
        
        def run(self):
                rate = rospy.Rate(20.0)
+               sleep(3) # wait 3s for ros to register and establish all subscriber connections before sending reset diag
                reset_val = self.get_reset()
                rospy.loginfo("Reset Status: 0x%x" % reset_val)
                i = 0