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Stage ros velocity publish rate

asked 2016-04-26 07:02:19 -0500

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. :)

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answered 2016-04-27 02:46:26 -0500

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.

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answered 2016-04-29 12:40:59 -0500

jacobperron gravatar image

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

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Asked: 2016-04-26 07:02:19 -0500

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Last updated: Apr 29 '16