fix bug : 上报卡顿

src/base/mc/src/mc.cpp

@@ -72,7 +72,7 @@ int main(int argc, char** argv)
     auto node = rclcpp::Node::make_shared("can_driver_node");
     LOG_INFO("Starting mc package...");
 
-    auto pub = node->create_publisher<sweeperMsg::CanFrame>("can_data", 10);
+    auto pub = node->create_publisher<sweeperMsg::CanFrame>("can_data", 100);
     auto sub = node->create_subscription<sweeperMsg::McCtrl>("mc_ctrl", 10, mcCtrlCallback);
     auto vid_sub = node->create_subscription<sweeperMsg::VehicleIdentity>("/vehicle/identity", rclcpp::QoS(1).transient_local().reliable(), vehicleIdentityCallback);
 

src/communication/mqtt_report/include/mqtt_report/mqtt_client.hpp

@@ -70,6 +70,9 @@ class MQTTClientWrapper
 
     bool publish(const std::string& topic, const std::string& payload, int qos = 0, bool retained = false)
     {
+        // 快速检查连接状态，避免不必要的锁竞争
+        if (!connected_) return false;
+
         std::lock_guard<std::mutex> lock(mtx_);
         if (!client_ || !connected_) return false;
 
@@ -195,6 +198,10 @@ class MQTTClientWrapper
         {
             if (!connected_)
             {
+                // 尝试连接前先释放锁，给 publish 线程机会
+                std::this_thread::sleep_for(std::chrono::milliseconds(100));
+                if (stop_flag_) break;
+
                 std::lock_guard<std::mutex> lock(mtx_);
                 doConnect();
             }

src/communication/mqtt_report/src/node/mqtt_vehicle_node.cpp

@@ -37,7 +37,7 @@ class VehicleReportNode : public rclcpp::Node
     {
         // CAN
         subscription_ = this->create_subscription<sweeperMsg::CanFrame>(
-            "can_data", 10, std::bind(&VehicleReportNode::topic_callback, this, std::placeholders::_1));
+            "can_data", 100, std::bind(&VehicleReportNode::topic_callback, this, std::placeholders::_1));
 
         // Identity
         identity_sub_ = this->create_subscription<VehicleIdentity>(