[Personalrobots-commit] SF.net SVN: personalrobots:[3388] pkg/trunk

[<is...@us...>]

Revision: 3388
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=3388&view=rev
Author:   isucan
Date:     2008-08-21 00:29:48 +0000 (Thu, 21 Aug 2008)

Log Message:
-----------
setting queue size

Modified Paths:
--------------
    pkg/trunk/motion_planning/planning_node_util/include/planning_node_util/cnode.h
    pkg/trunk/motion_planning/planning_node_util/include/planning_node_util/knode.h
    pkg/trunk/world_models/world_3d_map/src/world_3d_map.cpp

Modified: pkg/trunk/motion_planning/planning_node_util/include/planning_node_util/cnode.h
===================================================================
--- pkg/trunk/motion_planning/planning_node_util/include/planning_node_util/cnode.h	2008-08-21 00:29:05 UTC (rev 3387)
+++ pkg/trunk/motion_planning/planning_node_util/include/planning_node_util/cnode.h	2008-08-21 00:29:48 UTC (rev 3388)
@@ -95,7 +95,7 @@
 	    
 	    m_sphereSize = 0.03;
 	    
-	    m_node->subscribe("world_3d_map", m_worldCloud, &NodeCollisionModel::worldMapCallback, this);
+	    m_node->subscribe("world_3d_map", m_worldCloud, &NodeCollisionModel::worldMapCallback, this, 1);
 	}
 
 	virtual ~NodeCollisionModel(void)

Modified: pkg/trunk/motion_planning/planning_node_util/include/planning_node_util/knode.h
===================================================================
--- pkg/trunk/motion_planning/planning_node_util/include/planning_node_util/knode.h	2008-08-21 00:29:05 UTC (rev 3387)
+++ pkg/trunk/motion_planning/planning_node_util/include/planning_node_util/knode.h	2008-08-21 00:29:48 UTC (rev 3388)
@@ -91,7 +91,7 @@
 	    m_basePos[0] = m_basePos[1] = m_basePos[2] = 0.0;
 	    m_robotModelName = robot_model;
 	    
-	    m_node->subscribe("localizedpose", m_localizedPose, &NodeRobotModel::localizedPoseCallback, this);
+	    m_node->subscribe("localizedpose", m_localizedPose, &NodeRobotModel::localizedPoseCallback, this, 1);
 	}
 
 	virtual ~NodeRobotModel(void)

Modified: pkg/trunk/world_models/world_3d_map/src/world_3d_map.cpp
===================================================================
--- pkg/trunk/world_models/world_3d_map/src/world_3d_map.cpp	2008-08-21 00:29:05 UTC (rev 3387)
+++ pkg/trunk/world_models/world_3d_map/src/world_3d_map.cpp	2008-08-21 00:29:48 UTC (rev 3388)
@@ -32,6 +32,8 @@
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/
 
+/** \Author Ioan Sucan */
+
 /**
 
 @mainpage
@@ -119,7 +121,7 @@
     World3DMap(const std::string &robot_model) : ros::node("world_3d_map"),
 						 planning_node_util::NodeRobotModel(dynamic_cast<ros::node*>(this), robot_model)
     {
-	advertise<std_msgs::PointCloudFloat32>("world_3d_map");
+	advertise<std_msgs::PointCloudFloat32>("world_3d_map", 1);
 
 	param("world_3d_map/max_publish_frequency", m_maxPublishFrequency, 0.5);
 	param("world_3d_map/retain_pointcloud_duration", m_retainPointcloudDuration, 60.0);
@@ -305,7 +307,7 @@
 			continue;
 		    }
 		    
-		    rp.body->setScale(1.5);
+		    rp.body->setScale(1.75);
 		    
 		    m_selfSeeParts.push_back(rp);
 		}


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