From 9451d1db7f2ffa66ce67136ed23a019c9da24990 Mon Sep 17 00:00:00 2001
From: acki <ackimixs@protonmail.com>
Date: Thu, 29 May 2025 14:32:33 -0400
Subject: [PATCH] ask pos

---
 .../include/modelec_strat/navigation_helper.hpp        |  1 +
 src/modelec_strat/src/navigation_helper.cpp            | 10 ++++++++--
 2 files changed, 9 insertions(+), 2 deletions(-)

diff --git a/src/modelec_strat/include/modelec_strat/navigation_helper.hpp b/src/modelec_strat/include/modelec_strat/navigation_helper.hpp
index d0a1e98..ddd549a 100644
--- a/src/modelec_strat/include/modelec_strat/navigation_helper.hpp
+++ b/src/modelec_strat/include/modelec_strat/navigation_helper.hpp
@@ -160,6 +160,7 @@ namespace Modelec
         rclcpp::Service<std_srvs::srv::Empty>::SharedPtr ask_spawn_srv_;
 
         rclcpp::Publisher<std_msgs::msg::Empty>::SharedPtr odo_get_pos_pub_;
+        rclcpp::Time last_odo_get_pos_time_;
 
     };
 }
diff --git a/src/modelec_strat/src/navigation_helper.cpp b/src/modelec_strat/src/navigation_helper.cpp
index 479b4df..6b8b757 100644
--- a/src/modelec_strat/src/navigation_helper.cpp
+++ b/src/modelec_strat/src/navigation_helper.cpp
@@ -105,6 +105,8 @@ namespace Modelec
 
         odo_get_pos_pub_ = node_->create_publisher<std_msgs::msg::Empty>(
             "odometry/get/pos", 30);
+
+        last_odo_get_pos_time_ = node_->now();
     }
 
     void NavigationHelper::ReInit()
@@ -129,8 +131,12 @@ namespace Modelec
 
     void NavigationHelper::Update()
     {
-        std_msgs::msg::Empty empty_msg;
-        odo_get_pos_pub_->publish(empty_msg);
+        if ((node_->now() - last_odo_get_pos_time_).seconds() > 0.5)
+        {
+            std_msgs::msg::Empty empty_msg;
+            odo_get_pos_pub_->publish(empty_msg);
+            last_odo_get_pos_time_ = node_->now();
+        }
     }
 
     void NavigationHelper::SendGoTo()