Small fixes.

Change the rospy.rate.
Cahnge queue_size.

Software/ROS/openbionics/scripts/RobotHand.py

@@ -15,15 +15,15 @@ def __init__(self):
             sys.exit(1)
         self.MCU.close()
 
-        self.rate = rospy.Rate(100)
+        self.rate = rospy.Rate(200)
         self.CommandSub = rospy.Subscriber(
                         'RobotHandCmd', Command, self.CommandCB)
         self.MotorStatePub = rospy.Publisher(
                            'MotorState', MotorState, 
-                           queue_size = 10)
+                           queue_size = 100)
         self.RobotHandAckPub = rospy.Publisher(
                              'RobotHandAck', Acknowledge,
-                             queue_size = 10)
+                             queue_size = 100)
 
     def CommandCB(self, OutData):
         self.MCUCommunication(OutData.cmd)

Software/ROS/openbionics/scripts/SliderBox.py

@@ -6,18 +6,18 @@
 def SliderBox():
     SliderBoxCmd = rospy.Publisher(
                  'RobotHandCmd', Command, 
-                 queue_size = 10)
+                 queue_size = 100)
     rospy.init_node('SliderBox', anonymous=True)
-    rate = rospy.Rate(100) # 10hz
+    rate = rospy.Rate(200)
     while not rospy.is_shutdown():
-        # Send Command to SliderBox and Read the Response
-        cmd = SliderBoxSerial("gs")
-        cmd  = cmd[:-1].split(';')
-        if (int(cmd[0]) == 0):
-            # Send to Robot Hand the Command
-            cmd = 'ps %s' % cmd[1] 
-            SliderBoxCmd.publish(cmd)
-            rate.sleep()
+		# Send Command to SliderBox and Read the Response
+		cmd = SliderBoxSerial("gs")
+		cmd  = cmd[:-1].split(';')
+		if (int(cmd[0]) == 0):
+			# Send to Robot Hand the Command
+			cmd = 'ps %s' % cmd[1]
+			SliderBoxCmd.publish(cmd)
+			rate.sleep()
 
 def SliderBoxSerial(cmd):        
     # Write data package
@@ -42,4 +42,5 @@ def SliderBoxSerial(cmd):
     try:
         SliderBox()
     except rospy.ROSInterruptException:
-        pass
+        pass
+