Publishing at a required frequency

asked 2019-12-18 12:20:22 -0500

prj1508 gravatar image

updated 2019-12-18 17:06:52 -0500

stevemacenski gravatar image

Hi,

I need to publish a CAN message to a topic at 10ms frequency. For this, I have created a timer and I am publishing from the timercallback function. This seems to be consuming lot of CPU resources. Is there a better way of implementing this? I am using ROS kinetic on Ubuntu 16.04

thanks

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You need to provide alot more information. What client library? How large is the message? Is the CPU time spent on the ROS/Timer or the CAN operations? Please provide the code in question so we understand what's happening, etc.

stevemacenski gravatar image stevemacenski  ( 2019-12-18 12:56:30 -0500 )edit

I am using socketcan_bridge package. The message is 8 bytes of data being sent to sent_message topic of socketcan_bridge. I think CPU time is spent on physical CAN related operations as I do not have this issue when I am running on vcan0. This could be socketcan or CAN controller issue, but is there a way I can work around this in ROS?

prj1508 gravatar image prj1508  ( 2019-12-18 13:09:36 -0500 )edit
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