Size and Time of a ROS message
Hello,
I would like to verify something. When I use know rostopic bw /topic
:
- The first line gives the average bandwidth in Bytes per second.
- The second line gives the size of the message
Using these two data, can I determine precisely the time it takes to publish one message over the topic ?
For example, I am publishing a sensor_msgs/BatteryState
from my Arduino Board and I read the values rostopic bw
on my RPI.
Arduino : Battery State Publisher
void loop()
{
if ( millis() >= battery_time ){
battery_msg.voltage = get_power();
battery_msg.header.stamp = nh.now();
pub_battery.publish(&battery_msg);
battery_time = millis() + 50;
}
nh.spinOnce();
}
The average value is 1.17 Kb/s and the size = mean =min = max = 0.07 KB. Thus, the time for one message is approximately equal to 60 ms. Is it right ?
However, in my code, I am publishing the message every 50 ms ... I am confused.
Thanks in advance,
Shanika