ROS : How to change the publishing rate of image

[ACast36]

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 ?

[MartyG]

Would ros :: Rate meet your needs, please?

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

[MartyG]

Also:

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

[ACast36]

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 .

[MartyG · Accepted solution]

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/

[ACast36]

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

Thanks so much !

[MartyG]

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