Added a simple loop to refresh the frame taken, should work fine.

LASR-at-Home · Feb 27, 2024 · 7d1d84b · 7d1d84b
1 parent d4a677a
commit 7d1d84b
Showing 1 changed file with 5 additions and 4 deletions.
diff --git a/skills/src/lasr_skills/vision/get_image.py b/skills/src/lasr_skills/vision/get_image.py
@@ -69,10 +69,11 @@ def __init__(self, topic: str = None):
 
     def execute(self, userdata):
         try:
-            userdata.img_msg_2d = rospy.wait_for_message(
-                self.topic1, Image)
-            userdata.img_msg_3d = rospy.wait_for_message(
-                self.topic2, PointCloud2)
+            for _ in range(5):  # This is a little change, see if helps avoid having delayed frame issue.
+                userdata.img_msg_2d = rospy.wait_for_message(
+                    self.topic1, Image)
+                userdata.img_msg_3d = rospy.wait_for_message(
+                    self.topic2, PointCloud2)
         except Exception as e:
             print(e)
             return 'failed'