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Fix critical lag on some systems caused by CvBridge Error

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This commit is contained in:
TJU-Lu
2025-10-27 23:20:33 +08:00
parent 1925c16b7a
commit 026e740b62
3 changed files with 41 additions and 27 deletions
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2
Simulator/src/include/sensor_simulator.h
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@@ -112,7 +112,7 @@ public:
image_pub_ = nh_.advertise<sensor_msgs::Image>(depth_topic, 1);
point_cloud_pub_ = nh_.advertise<sensor_msgs::PointCloud2>(lidar_topic, 1);
odom_sub_ = nh_.subscribe(odom_topic, 1, &SensorSimulator::odomCallback, this);
odom_sub_ = nh_.subscribe(odom_topic, 1, &SensorSimulator::odomCallback, this, ros::TransportHints().tcpNoDelay());
timer_depth_ = nh_.createTimer(ros::Duration(1 / depth_fps), &SensorSimulator::timerDepthCallback, this);
timer_lidar_ = nh_.createTimer(ros::Duration(1 / lidar_fps), &SensorSimulator::timerLidarCallback, this);
printf("3.Simulation Ready! \n");