Code cleanup in Devices

- IMU - Lidar
lge-ros2 · Aug 14, 2020 · bbf3e02 · bbf3e02
1 parent 9f9f6fa
commit bbf3e02
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Showing 2 changed files with 2 additions and 7 deletions.
diff --git a/Assets/Scripts/Devices/IMU.cs b/Assets/Scripts/Devices/IMU.cs
@@ -6,7 +6,6 @@
 
 using System.Collections;
 using UnityEngine;
-using Stopwatch = System.Diagnostics.Stopwatch;
 using messages = gazebo.msgs;
 
 namespace SensorDevices
@@ -86,14 +85,11 @@ void FixedUpdate()
 
 		protected override IEnumerator MainDeviceWorker()
 		{
-			var sw = new Stopwatch();
+			var waitForSeconds = new WaitForSeconds(UpdatePeriod);
 			while (true)
 			{
-				sw.Restart();
 				GenerateMessage();
-				sw.Stop();
-
-				yield return new WaitForSeconds(WaitPeriod((float)sw.Elapsed.TotalSeconds));
+				yield return waitForSeconds;
 			}
 		}
 

diff --git a/Assets/Scripts/Devices/Lidar.cs b/Assets/Scripts/Devices/Lidar.cs
@@ -262,7 +262,6 @@ private IEnumerator LaserCameraWorker()
 
 		protected override IEnumerator MainDeviceWorker()
 		{
-			// var waitForSeconds = new WaitForSeconds(UpdatePeriod * adjustCapturingRate);
 			var sw = new Stopwatch();
 			while (true)
 			{