ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

Throttle message rate for subscribers

asked 2011-09-20 20:06:21 -0500

I have a publisher with a high data rate (approx. 100 Hz) and multiple subscribers. One of them requires the full data rate, while another is quite happy with one message per second.

My simple solution for the latter is to process every 100th message only, but I was wondering if ROS provides a more elegant solution, such as a message filter or a subscription option which lets me choose the desired message rate.

edit retag flag offensive close merge delete

3 Answers

Sort by » oldest newest most voted

answered 2011-09-20 20:36:19 -0500

In fact, ROS does. What you're looking for is the drop node from topic_tools.

edit flag offensive delete link more


Thanks for the link. In this particular instance, I would prefer a way to control the rate from within my own node (C++), but I'll keep this package in mind for future reference.
roehling gravatar image roehling  ( 2011-09-20 21:32:05 -0500 )edit

answered 2011-09-21 02:41:41 -0500

joq gravatar image

For future reference, REP 106 on polled topics is proposed for Fuerte.

Among other things, that will allow an individual subscriber to request that the publisher transmit messages at a lower frequency.

edit flag offensive delete link more


the REP has been updated to Withdrawn because the proposed functionality will not be implemented for the current ROS client libraries`

lucasw gravatar image lucasw  ( 2017-07-30 10:11:33 -0500 )edit

answered 2011-10-25 07:26:23 -0500

Constantin S gravatar image

Answer/Question. Is there a problem with throttling your subscriber using a sleep statement? Put your subscriber to sleep for 1 second, then poll the topic for the newest message? Or do the callbacks wake sleeping subscribers? Or after sleeping do you get the oldest (as opposed to the newest) message in the queue ... which I guess you could handle by setting the queue to size 1.

edit flag offensive delete link more


I gave this a try in response to #q267413 : it looks to be working ok and uses a little less cpu than regular topic_tools throttle (which invokes a callback at the full publisher rate). But maybe it is still a bad approach for some reason?

lucasw gravatar image lucasw  ( 2017-07-30 10:15:36 -0500 )edit

Question Tools

1 follower


Asked: 2011-09-20 20:06:21 -0500

Seen: 8,322 times

Last updated: Oct 25 '11