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chore: tune keyboard control timing and reduce status output

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Increase update_rate from 0.05 to 0.03 (faster command cycle), adjust stdin_hold_time from 0.04 to 0.08, and rate-limit console status output to every 5th tick to reduce terminal noise.

Ultraworked with [Sisyphus](https://github.com/code-yeongyu/oh-my-openagent)

Co-authored-by: Sisyphus <clio-agent@sisyphuslabs.ai>
This commit is contained in:
FallenSigh
2026-06-19 06:30:11 +08:00
parent b9d61cdd70
commit da97c1068c
2 changed files with 6 additions and 3 deletions
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4
ros2/src/udp_teleop/config/params.yaml
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@@ -6,7 +6,7 @@ keyboard_udp_control:
chassis_angular_speed: 45 chassis_angular_speed: 45
arm_height_step: 5 arm_height_step: 5
arm_joint_step: 5 arm_joint_step: 5
update_rate: 0.05 update_rate: 0.03
debug_keys: false debug_keys: false
keyboard_backend: "auto" keyboard_backend: "auto"
stdin_hold_time: 0.04 stdin_hold_time: 0.08

5
ros2/src/udp_teleop/udp_teleop/keyboard_control.py
View File

@@ -104,6 +104,7 @@ class KeyboardUdpControlNode(Node):
self.old_terminal_settings = None self.old_terminal_settings = None
self._stdin_buf = "" self._stdin_buf = ""
self._tick_count = 0
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM) self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
@@ -326,7 +327,9 @@ class KeyboardUdpControlNode(Node):
if self.arm_active or self.is_arm_key_pressed(keys): if self.arm_active or self.is_arm_key_pressed(keys):
self.sock.sendto(self.build_arm_cmd(), (self.udp_ip, self.udp_port)) self.sock.sendto(self.build_arm_cmd(), (self.udp_ip, self.udp_port))
self.print_status(keys) self._tick_count += 1
if self._tick_count % 5 == 0:
self.print_status(keys)
def print_status(self, keys): def print_status(self, keys):
selected_joint = self.arm_selected_joint + 2 selected_joint = self.arm_selected_joint + 2