Ask Your Question
0

Stage ros velocity publish rate

asked 2016-04-26 07:02:19 -0600

SilverBullet gravatar image

Hi, I am working with some simulation issues in Stage ROS. I want to reduce the publish rate of each robot's pose topic, e.g. robot_0/base_pose_ground_truth, robot_1/base_pose_ground_truth, etc. due to my limited network bandwidth. With the number of robots increased the network is becoming congested. Is there any way to change or namely, reduce the publish rate of such stage topics so that I can release more network resources? I'd appreicate it if you can give me some advice. :)

edit retag flag offensive close merge delete

2 Answers

Sort by » oldest newest most voted
1

answered 2016-04-27 02:46:26 -0600

Procópio gravatar image

In your .world file, change the parameter interval_sim to a bigger value. I believe the default is 100 (ms), you can try with 1000, or what suit your needs.

edit flag offensive delete link more
0

answered 2016-04-29 12:40:59 -0600

jacobperron gravatar image

You could try using topic_tools/throttle - ROS Wiki and only subscribe to the throttled topics.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2016-04-26 07:02:19 -0600

Seen: 175 times

Last updated: Apr 29 '16