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AuTURBO · May 22, 2024 · f6dc910 · f6dc910
1 parent 1db4de4
commit f6dc910
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Showing 5 changed files with 4 additions and 8 deletions.
diff --git a/exts/stride.simulator/config/go1_cfg.yaml b/exts/stride.simulator/config/go1_cfg.yaml
@@ -1,8 +1,8 @@
 
 sensor: 
   imu:
-    update_frequency: 250
+    update_frequency: 1
 
   lidar:
-    update_frequency: 25
+    update_frequency: 15
     prim_path: /World/go1/lidar/lidar_PhysX
diff --git a/exts/stride.simulator/stride/simulator/backends/ros2_backend.py b/exts/stride.simulator/stride/simulator/backends/ros2_backend.py
@@ -140,7 +140,6 @@ def update_lidar_data(self, data):
         Args:
             data: The Lidar sensor data.
         """
-        print("lidar")
         msg = PointCloud2()
 
         # Flatten LiDAR data
@@ -189,7 +188,7 @@ def update_sensor(self, sensor_type: str, data):
             sensor_type (str): The type of the sensor.
             data: The sensor data.
         """
-        print(sensor_type)
+        # print(sensor_type)
 
         if sensor_type == "Imu":
             self.update_imu_data(data)

diff --git a/exts/stride.simulator/stride/simulator/vehicles/quadrupedrobot/anymalc.py b/exts/stride.simulator/stride/simulator/vehicles/quadrupedrobot/anymalc.py
@@ -89,7 +89,6 @@ def update_sensors(self, dt: float):
         """
 
         # Call the update method for the sensor to update its values internally (if applicable)
-        print("debug2")
 
         for sensor in self._sensors:
             try:

diff --git a/exts/stride.simulator/stride/simulator/vehicles/quadrupedrobot/go1.py b/exts/stride.simulator/stride/simulator/vehicles/quadrupedrobot/go1.py
@@ -90,12 +90,11 @@ def update_sensors(self, dt: float):
             dt (float): The time elapsed between the previous and current function calls (s).
         """
         ## doyoung ##
-        print("debug3")
 
         # Call the update method for the sensor to update its values internally (if applicable)
         for sensor in self._sensors:
             ## doyoung ##
-            print(sensor)
+            # print(sensor)
             try:
                 sensor_data = sensor.update(self._state, dt)
             except Exception as e:  # pylint: disable=broad-except

diff --git a/exts/stride.simulator/stride/simulator/vehicles/quadrupedrobot/quadrupedrobot.py b/exts/stride.simulator/stride/simulator/vehicles/quadrupedrobot/quadrupedrobot.py
@@ -126,7 +126,6 @@ def update_sensors(self, dt: float):
             # If some data was updated and we have a mavlink backend or ros backend (or other), then just update it
             if sensor_data is not None:
                 for backend in self._backends:
-                    print("debug1")
                     backend.update_sensor(sensor.sensor_type, sensor_data)
 
     def update_sim_state(self, dt: float):