euslisp/actionlib.l: set queue_size following to action_server_imp.h …

…and action_client_imp.h jsk-ros-pkg#396 (https://github.com/ros/actionlib/blob/indigo-devel/include/actionlib/server/action_server_imp.h#L121, https://github.com/ros/actionlib/blob/indigo-devel/include/actionlib/client/action_client.h#L210)
k-okada · Nov 23, 2015 · 87d0d62 · 87d0d62
1 parent 76cfe31
commit 87d0d62
Showing 1 changed file with 15 additions and 15 deletions.
diff --git a/roseus/euslisp/actionlib.l b/roseus/euslisp/actionlib.l
@@ -88,23 +88,23 @@
    (setq action-goal-class     (class (send action-spec :action_goal))
          action-result-class   (class (send action-spec :action_result))
          action-feedback-class (class (send action-spec :action_feedback)))
-   (ros::advertise (format nil "~A/goal" name-space) action-goal-class 0)
-   (ros::advertise (format nil "~A/cancel" name-space) actionlib_msgs::GoalID 0)
+   (ros::advertise (format nil "~A/goal" name-space) action-goal-class 10)
+   (ros::advertise (format nil "~A/cancel" name-space) actionlib_msgs::GoalID 10)
    (cond
     (groupname
      (ros::subscribe (format nil "~A/status" name-space)
-                     actionlib_msgs::GoalStatusArray #'send self :goal-status-cb 0 :groupname groupname)
+                     actionlib_msgs::GoalStatusArray #'send self :goal-status-cb 1 :groupname groupname)
      (ros::subscribe (format nil "~A/result" name-space)
-                     action-result-class #'send self :action-result-cb 0 :groupname groupname)
+                     action-result-class #'send self :action-result-cb 1 :groupname groupname)
      (ros::subscribe (format nil "~A/feedback" name-space)
-                     action-feedback-class #'send self :action-feedback-cb 0 :groupname groupname))
+                     action-feedback-class #'send self :action-feedback-cb 1 :groupname groupname))
     (t
      (ros::subscribe (format nil "~A/status" name-space)
-                     actionlib_msgs::GoalStatusArray #'send self :goal-status-cb 0)
+                     actionlib_msgs::GoalStatusArray #'send self :goal-status-cb 1)
      (ros::subscribe (format nil "~A/result" name-space)
-                     action-result-class #'send self :action-result-cb 0)
+                     action-result-class #'send self :action-result-cb 1)
      (ros::subscribe (format nil "~A/feedback" name-space)
-                     action-feedback-class #'send self :action-feedback-cb 0)))
+                     action-feedback-class #'send self :action-feedback-cb 1)))
    (setq simple-state ros::*simple-goal-state-done*)
    self)
   (:wait-for-server
@@ -359,20 +359,20 @@
    (setq action-goal-class     (class (send action-spec :action_goal))
          action-result-class   (class (send action-spec :action_result))
          action-feedback-class (class (send action-spec :action_feedback)))
-   (ros::advertise (format nil "~A/status" name-space) actionlib_msgs::GoalStatusArray)
-   (ros::advertise (format nil "~A/result" name-space) action-result-class)
-   (ros::advertise (format nil "~A/feedback" name-space) action-feedback-class)
+   (ros::advertise (format nil "~A/status" name-space) actionlib_msgs::GoalStatusArray 50)
+   (ros::advertise (format nil "~A/result" name-space) action-result-class 50)
+   (ros::advertise (format nil "~A/feedback" name-space) action-feedback-class 50)
    (cond
     (groupname
      (ros::subscribe (format nil "~A/goal" name-space)
-                     action-goal-class #'send self :goal-callback 0 :groupname groupname)
+                     action-goal-class #'send self :goal-callback 50 :groupname groupname)
      (ros::subscribe (format nil "~A/cancel" name-space)
-                     actionlib_msgs::GoalID #'send self :cancel-callback 0 :groupname groupname))
+                     actionlib_msgs::GoalID #'send self :cancel-callback 50 :groupname groupname))
     (t
      (ros::subscribe (format nil "~A/goal" name-space)
-                     action-goal-class #'send self :goal-callback 0)
+                     action-goal-class #'send self :goal-callback 50)
      (ros::subscribe (format nil "~A/cancel" name-space)
-                     actionlib_msgs::GoalID #'send self :cancel-callback 0)))
+                     actionlib_msgs::GoalID #'send self :cancel-callback 50)))
    ;; need getparam for status_frequence, status_list_timeout
    )
   ;;