topic Re: ROS : How to change the publishing rate of image in Items with no label

ROS : How to change the publishing rate of image

ACast36 — Sun, 24 Feb 2019 04:40:45 GMT

The rate at which the the topic /camera/depth/aligned_depth_to_color/image_raw , is published is about 29 Fps.

I want to reduce this rate to publish only twice per second.

How could I make this change ?

Re: ROS : How to change the publishing rate of image

MartyG — Sun, 24 Feb 2019 04:51:17 GMT

Would ros :: Rate meet your needs, please?

http://docs.ros.org/diamondback/api/rostime/html/classros_1_1Rate.html

Re: ROS : How to change the publishing rate of image

MartyG — Sun, 24 Feb 2019 04:54:47 GMT

Also:

https://stackoverflow.com/questions/44023110/ros-publisher-speed

Re: ROS : How to change the publishing rate of image

ACast36 — Sun, 24 Feb 2019 05:10:51 GMT

Thanks for your response @MartyG .

Are you saying that I should subscribe to the "/camera/depth/aligned_depth_to_color/image_raw" topic (which is published after launching the rs_camera.launch file) from my own node and then republish it at a different rate ? Yes that could be a solution.

But wouldn't it be more efficient to change the rate at which the topics are published, from the scripts that are launched when the rs_camera launch file is launched in the first place?

I am not sure though where in the scripts included in that launch file is the publishing rate set .

Re: ROS : How to change the publishing rate of image

MartyG — Sun, 24 Feb 2019 05:30:24 GMT

My ROS coding knowledge is not very deep. My research indicates though that a node called Throttle is a way to limit publishing speed at roslaunch.

https://answers.ros.org/question/40304/creating-a-throttle-node/

Re: ROS : How to change the publishing rate of image

ACast36 — Sun, 24 Feb 2019 05:42:33 GMT

@MartyG throttling worked perfect. It was so simple too !

Thanks so much !

Re: ROS : How to change the publishing rate of image

MartyG — Sun, 24 Feb 2019 05:45:20 GMT

You are welcome. I'm very glad I could help. :)