From cd3ccd72f10246adc43b37fa7181c6ea8fd3923b Mon Sep 17 00:00:00 2001
From: Mitchell Wills <mwills@wpi.edu>
Date: Sun, 23 Feb 2014 15:21:49 -0500
Subject: [PATCH] Moved setting framerate from start to configure so that it is
 set without needing to restart the stream

---
 prosilica_camera/src/nodes/prosilica_node.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/prosilica_camera/src/nodes/prosilica_node.cpp b/prosilica_camera/src/nodes/prosilica_node.cpp
index d9e41c8..5143795 100644
--- a/prosilica_camera/src/nodes/prosilica_node.cpp
+++ b/prosilica_camera/src/nodes/prosilica_node.cpp
@@ -216,6 +216,7 @@ class ProsilicaNode
     else if (config.trigger_mode == "fixedrate") {
       trigger_mode_ = prosilica::FixedRate;
       desired_freq_ = config.trig_rate;
+      cam_->setFrameRate(desired_freq_);
     }
     else if (config.trigger_mode == "polled") {
       trigger_mode_ = prosilica::Software;
@@ -362,7 +363,6 @@ class ProsilicaNode
           trigger_sub_ = nh_.subscribe(trig_timestamp_topic_, 1, &ProsilicaNode::syncInCallback, this);
       }
       else if (trigger_mode_ == prosilica::FixedRate){
-	cam_->setFrameRate(desired_freq_);
       }
       else {
         assert(trigger_mode_ == prosilica::Freerun);