Add a param.

rm_shooter_controllers/include/rm_shooter_controllers/standard.h

@@ -88,6 +88,7 @@ class Controller : public controller_interface::MultiInterfaceController<hardwar
   std::vector<double> wheel_speed_offset_l_, wheel_speed_offset_r_;
   int push_per_rotation_{};
   double push_wheel_speed_threshold_{};
+  double high_shoot_frequency_{};
   bool dynamic_reconfig_initialized_ = false;
   bool state_changed_ = false;
   bool maybe_block_ = false;

rm_shooter_controllers/src/standard.cpp

@@ -56,6 +56,7 @@ bool Controller::init(hardware_interface::RobotHW* robot_hw, ros::NodeHandle& ro
   config_rt_buffer.initRT(config_);
   push_per_rotation_ = getParam(controller_nh, "push_per_rotation", 0);
   push_wheel_speed_threshold_ = getParam(controller_nh, "push_wheel_speed_threshold", 0.);
+  high_shoot_frequency_ = getParam(controller_nh, "high_shoot_frequency", 20.);
 
   cmd_subscriber_ = controller_nh.subscribe<rm_msgs::ShootCmd>("command", 1, &Controller::commandCB, this);
   shoot_state_pub_.reset(new realtime_tools::RealtimePublisher<rm_msgs::ShootState>(controller_nh, "state", 10));
@@ -113,7 +114,7 @@ void Controller::update(const ros::Time& time, const ros::Duration& period)
           (cmd_.mode == READY &&
            (std::fmod(std::abs(ctrl_trigger_.command_struct_.position_ - ctrl_trigger_.getPosition()), 2. * M_PI) <
                 config_.exit_push_threshold ||
-            cmd_.hz >= 20)))
+            cmd_.hz >= high_shoot_frequency_)))
       {
         state_ = cmd_.mode;
         state_changed_ = true;
@@ -198,7 +199,7 @@ void Controller::push(const ros::Time& time, const ros::Duration& period)
   }
   if ((cmd_.wheel_speed == 0. || wheel_speed_ready) && (time - last_shoot_time_).toSec() >= 1. / cmd_.hz)
   {  // Time to shoot!!!
-    if (cmd_.hz >= 20)
+    if (cmd_.hz >= high_shoot_frequency_)
     {
       ctrl_trigger_.setCommand(ctrl_trigger_.command_struct_.position_ -
                                    2. * M_PI / static_cast<double>(push_per_rotation_),