-

modules/catkin_ws/src/car/src/ultrasonic/Ultrasonic.cpp

@@ -26,17 +26,12 @@ void Ultrasonic::onInit()
     main = boost::thread(
         [this]()
         {
-            ros::Rate rate{1};
-            while (ros::ok())
+            for (;;)
             {
                 ussDataMsg msg;
                 auto distance = getDistance();
                 msg.distance = distance;
-                std::cout << "\n------------------------\n"
-                          << "distance: " << distance
-                          << "\n------------------------\n\n";
                 ussData.publish(msg);
-                rate.sleep();
             }
         });