From 9657e09325cfe3af7387d354ce0828aca4eb8345 Mon Sep 17 00:00:00 2001
From: roomba-1 <alex@wallar.me>
Date: Tue, 13 Feb 2018 18:56:57 -0500
Subject: [PATCH] :fire: copy.copy is slow like a :turtle:. Rates now match up
 on server and clients. @braraki it's ready for you

---
 launch/bar.launch | 23 +++++++++++++++++++++++
 src/receiver.py   |  3 ++-
 2 files changed, 25 insertions(+), 1 deletion(-)
 create mode 100644 launch/bar.launch

diff --git a/launch/bar.launch b/launch/bar.launch
new file mode 100644
index 0000000..1ddfa0e
--- /dev/null
+++ b/launch/bar.launch
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="host" default="wallar.csail.mit.edu"/>
+    <arg name="port" default="8080"/>
+    <node pkg="canopy_client" type="client_node.py" name="bar_client_node" output="screen">
+        <param name="name" value="bar"/>
+        <param name="host" value="$(arg host)"/>
+        <param name="port" value="$(arg port)"/>
+        <param name="private_key" value="abc" />
+        <param name="description" value="bar robot" />
+        <!--<rosparam> 
+            publishing:
+                - /filtered_state
+            types:
+                - geometry_msgs/PointStamped
+            trusted:
+                - ".*"
+        </rosparam> -->
+    </node>
+
+    <node pkg="rostopic" type="rostopic" name="filtered_state_pub"
+        args="pub -sr 40 /filtered_state geometry_msgs/PointStamped '{header: {stamp: now, frame_id: base_link}, point: {x: 2.0, y: 1.0, z: 1.0}}'" />
+</launch>
diff --git a/src/receiver.py b/src/receiver.py
index 5b5e5d0..ab5dc04 100644
--- a/src/receiver.py
+++ b/src/receiver.py
@@ -28,7 +28,8 @@ def run(self):
 
     # Returns the formatted last received message.
     def updates(self):
-        payloads = copy.copy(self.values)
+        #payloads = copy.copy(self.values)
+        payloads = self.values
         self.values = dict()
         return payloads