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This is almost a duplicate of #q40304, but that is with throttle instead of drop.

The idea is similar though:

<launch>
  <node name="foo_dropper" type="drop" pkg="topic_tools" args="<intopic> <X> <Y> [outtopic]" />
</launch>

Where you'd replace <intopic> <X> <Y> [outtopic] with the appropriate values of course.

Refer to the wiki page for more information on the usage and command line arguments of drop.

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