From f802f0bcbc687c637094c1842a591d24d6b837a9 Mon Sep 17 00:00:00 2001
From: Michalis Logothetis <logothm@gmail.com>
Date: Thu, 11 Apr 2024 16:27:07 +0300
Subject: [PATCH] increase timeout and reduce publish rate

---
 launch/numato_ros.launch | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/launch/numato_ros.launch b/launch/numato_ros.launch
index 4210676..357bc35 100644
--- a/launch/numato_ros.launch
+++ b/launch/numato_ros.launch
@@ -2,11 +2,13 @@
 <launch>
     <arg name="driver_port" default="/dev/ttyNUMATO"/>
     <arg name="config_dir" default="$(find numato_ros)/config/io.yaml"/>
+    <arg name="rate" default="8"/>
     
     <rosparam command="load" file="$(arg config_dir)" />
     <node pkg="numato_ros" name="numato_ros" type="numato_ros" output="screen">
         <param name="port" value="$(arg driver_port)"/>
         <param name="baud" value="9600"/>
-        <param name="timeout" value="0.001"/>
+        <param name="rate" value="$(arg rate)"/>
+        <param name="timeout" value="0.02"/>
     </node>   
 </launch>
\ No newline at end of file