[visualization] Make LCM CONTACT_RESULTS from ApplyVisualizationConfi…

…g() respect publish_period (RobotLocomotion#19590) - It was hardcoded to 1/64 seconds before this fix.
kotval · Jun 14, 2023 · 3b57c2d · 3b57c2d
1 parent 4fcc25d
commit 3b57c2d
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/visualization/visualization_config_functions.cc b/visualization/visualization_config_functions.cc
@@ -55,7 +55,8 @@ void ApplyVisualizationConfigImpl(const VisualizationConfig& config,
     DrakeVisualizer<double>::AddToBuilder(builder, *scene_graph, lcm, oopsie);
   }
   if (config.publish_contacts) {
-    ConnectContactResultsToDrakeVisualizer(builder, plant, *scene_graph, lcm);
+    ConnectContactResultsToDrakeVisualizer(builder, plant, *scene_graph, lcm,
+                                           config.publish_period);
   }
 
   if (config.publish_inertia) {