add spin Time

ros-msgs-mbed-lib @ 681b30a1

+Subproject commit 681b30a1deded7a2c277cf861fea4b22d5adb463

motors_control_card/firmware/src/Communication.cpp

@@ -44,7 +44,6 @@ void Communication::update(double dt)
     publishOdometry();
     publishMotorsCurrent();
     publishStatus();
-    m_nodeHandle.spinOnce();
 }
 
 void Communication::publishOdometry()

motors_control_card/firmware/src/MccdNode.cpp

@@ -67,10 +67,12 @@ void MccdNode::start()
     int elapsedTime = 0;
     int dtLogic = 0; // delta time (in ms) for logic update (pid + odometry)
     int dtCom = 0;   // delta time (in ms) for communication update (send
+    int dtSpin = 0;   // delta time (in ms) for spin update (send
                      // odometry + transform + ...)
 
     // Interval in ms at which the logic is updated
     int logicUpdateInterval = 10;
+    int spinUpdateInterval = 50;
 
     // Interval in ms at which the communication updates (publish messages and execute callbacks for subscribers)
     // It can be modified via rosparam (for pid calibration which requires higher sampling rate, for example)
@@ -189,6 +191,7 @@ void MccdNode::start()
 
         dtLogic += elapsedTime;
         dtCom += elapsedTime;
+        dtSpin += elapsedTime;
 
         if (dtCom >= communicationUpdateInterval)
         {
@@ -209,6 +212,17 @@ void MccdNode::start()
             }
 
             dtLogic = 0;
+
+            
+        }
+
+        if (dtSpin >= spinUpdateInterval)
+        {
+            m_nodeHandle.spinOnce();
+            dtSpin = 0;
         }
+
+
     }
-}
\ No newline at end of file
+
+}