group topics with diferent publishing rates
Hello there, i'm new into this community so sorry if I ask something dumb, tried to search first but could only find this and I don't understand it at all and don't know if it suits my problem answer.
Currently i'm working with a robot that publishes an enormous amount of topics. While the information it's usefull, for my client app that means a lot of overload in the conexion.
What I am trying to do so is, i'm building a node in the robot that will subscribe to the topics i really care about for the client, and publish them in a new personal msg type of my own that has only the parameters i need of those topics. for that i'm using an approach like this (subscriber and publisher in class).
Now, the real problem is that the topics i need are published at different rates, example: fcu/current_pose 60hz, flir/img 40hz.
Lets say i just want to publish when i have an image+current_pose that are at least very close in time, any idea ?