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Hello,
I was only able to find documentation online for command line tools for throttling or the other topic_tools for that matter.
Is there a way to create a throttle node from a launch file? I want to go from 30hz to something less. Thanks,
Blair
Just use the command line tools in roslaunch:
<launch>
<node name="foo_throttler" type="throttle" pkg="topic_tools" args="messages /input_topic 30 /input_topic_throttled" />
</launch>
Ik it's a very late reply to this post but replying if it can help someone else. for @ZiyangLl comment, you can write it like this:
<launch>
<node name = "input_topic_throttler" type="drop" pkg="topic_tools" args= "/input_topic 7 8 /input_topic_throttled" />
</launch>
This will drop every 7 frames of incoming 8 frames, So 200/8 = 25 Hz (taking only one frame from every 8 frames, from a 200 frame stack)
Yes, input_topic is the topic you want to throttle. I think you can directly add it to your launch file http://wiki.ros.org/topic_tools/throttle
For nodelet based throttling see http://wiki.ros.org/nodelet_topic_too... and https://github.com/lucasw/camera_thro... (which has some patches on https://github.com/jon-weisz/camera_t...).
To use a different message type other than the provided Image types there are a few steps to jump through, you could start with the camera_throttler_nodelets repo and add typedef and PLUGIN_EXPORT_CLASS lines to init.cpp, then add an entry in plugin_description.xml (and then create a nodelet manager and nodelet loader or standalone nodelet in your launch file... but that's the price of performance here).
Asked: 2012-08-01 01:35:26 -0500
Seen: 5,142 times
Last updated: Apr 16 '22
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