How to throttle a bag file?

asked 2014-01-01 16:28:02 -0500

Astronaut
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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?

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answered 2014-01-01 17:28:04 -0500

Tim Sweet

267 ●5 ●12 http://github.com/tim36272

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

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

Tim Sweet ( 2014-01-02 19:43:54 -0500 )edit

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answered 2014-01-01 19:19:00 -0500

Astronaut
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updated 2014-01-02 23:20:30 -0500

I find this option

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

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