Question

Hello

I have bag file with topics scan and imu but I need to throttle them as the frequency rate is to high. So basicly I wont to use the same bag file but with much lower frequency. When the ros topics in the bag file are throttled is good, but when I have the bag file with same ros topics but are not throttle the frequency rate of the recorded topic is to high. So I thought I can throttle the bag file in order to have the same information but recorded with lower frequency rate. Is that possible and if yes how to do it?

Asked by Astronaut on 2014-01-01 17:28:02 UTC

Answer 1

Hello!

Would using the rate option for rosbag play solve your problem? For example, you can lower the publish rate to half speed using:

rosbag play my_bag.bag -r 0.5

Where 0.5 means 0.5 times the recorded rate.

Otherwise, you can use throttle from: http://wiki.ros.org/topic_tools/throttle

-Tim

Asked by Tim Sweet on 2014-01-01 18:28:04 UTC

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Awesome, if this helped you could you accept the answer so other people can find answers more efficiently?

Asked by Tim Sweet on 2014-01-02 20:43:54 UTC

Answer 2

I find this option

<launch>
  <node name="foo_throttler" type="throttle" pkg="topic_tools" args="messages /input_topic frequency/input_topic_throttled" />
</launch>

Asked by Astronaut on 2014-01-01 20:19:00 UTC

How to throttle a bag file?

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