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how to publish a data to a rostopic without sleep and without interrupting other messages? ?

asked 2020-12-18 11:13:00 -0500

asif
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updated 2022-04-30 13:34:18 -0500

lucasw

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i want to publish a data on a topic with 1 Hz . my script is running on 30hz and all other messages are being published at 30 Hz . while that i want to publish a particular message at 1 hz without interrupting main frequency(30 Hz). as if i use rospy rate / ros sleep than it will cause a stop to script and other messages frequency will be interrupt.

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answered 2020-12-23 02:46:00 -0500

rodrigo55
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Hi,

You can use the rospy.Timer() function along with a callback function. This will allow you to publish topics at a different rate from a single node. Also, replacing rospy.rate() with rospy.spin() will prevent your program to step on its own toes. If you want additional help, you can check out this video I made addressing this issue:

https://www.youtube.com/watch?v=7RH4W...

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Asked: 2020-12-18 11:13:00 -0500

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Last updated: Dec 23 '20

how to publish a data to a rostopic without sleep and without interrupting other messages? ? edit

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how to publish a data to a rostopic without sleep and without interrupting other messages? ?