From a9246e54efc7436b510682365dc858726e026210 Mon Sep 17 00:00:00 2001
From: aestene <arnts@equinor.com>
Date: Fri, 27 Oct 2023 17:06:30 +0200
Subject: [PATCH] Reduce telemetry publisher intervals

This is causing an issue in Flotilla as there are simply too many
database updates. This is not a solution but a quick fix until we
find a long term solution in Flotilla.
---
 src/isar_robot/robotinterface.py | 8 ++++----
 1 file changed, 4 insertions(+), 4 deletions(-)

diff --git a/src/isar_robot/robotinterface.py b/src/isar_robot/robotinterface.py
index 77991dd5..e0738b08 100644
--- a/src/isar_robot/robotinterface.py
+++ b/src/isar_robot/robotinterface.py
@@ -118,7 +118,7 @@ def get_telemetry_publishers(
             mqtt_queue=queue,
             telemetry_method=self._get_pose_telemetry,
             topic=f"isar/{isar_id}/pose",
-            interval=1,
+            interval=5,
             retain=False,
         )
         pose_thread: Thread = Thread(
@@ -133,7 +133,7 @@ def get_telemetry_publishers(
             mqtt_queue=queue,
             telemetry_method=self._get_battery_telemetry,
             topic=f"isar/{isar_id}/battery",
-            interval=5,
+            interval=30,
             retain=False,
         )
         battery_thread: Thread = Thread(
@@ -148,7 +148,7 @@ def get_telemetry_publishers(
             mqtt_queue=queue,
             telemetry_method=self._get_obstacle_status_telemetry,
             topic=f"isar/{isar_id}/obstacle_status",
-            interval=1,
+            interval=10,
             retain=False,
         )
         obstacle_status_thread: Thread = Thread(
@@ -163,7 +163,7 @@ def get_telemetry_publishers(
             mqtt_queue=queue,
             telemetry_method=self._get_pressure_telemetry,
             topic=f"isar/{isar_id}/pressure",
-            interval=5,
+            interval=20,
             retain=False,
         )
         pressure_thread: Thread = Thread(