ros drivers - publish most recent messages or old ones?

asked 2020-09-18 02:24:29 -0500

ashwin gravatar image

updated 2022-05-23 09:20:30 -0500

lucasw gravatar image

While writing a ros driver, suppose the driver isn't able to publish data at the same rate as recieved from the hardware. As a result the data is being appended to the driver's internal buffer. So in the next cycle of execution, are we supposed to publish the most recent message or the oldest in our buffer? Is circular buffers the way to go here?

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