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Commit 56005f1c authored by Davis, Duane T's avatar Davis, Duane T
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circleFinder: Updated subscriber instantiation to include queue size

parent 6db80280
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......@@ -25,7 +25,7 @@ class CircleFinder:
self.message = project_msgs.Circle()
self.message.header.seq = 0
self.message.header.frame_id = "laser"
self.publisher = rospy.Publisher(circleTopic, project_msgs.Circle)
self.publisher = rospy.Publisher(circleTopic, project_msgs.Circle, queue_size=1)
rospy.Subscriber(scanTopic, sensor_msgs.LaserScan, self.processLaser)
......@@ -39,7 +39,6 @@ class CircleFinder:
def processLaser(self, scanData):
self.scan.update(scanData)
for interval in self.scan.intervals:
print "Interval"
if (interval[1] - interval[0]) >= 5:
leftAngle = self.scan.minAngle + interval[0] * self.scan.increment
leftPt = (self.scan.ranges[interval[0]] * math.cos(leftAngle), \
......
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