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nao control rate [closed]

asked 2013-10-07 07:34:09 -0500

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How can I reduce nao control rate in ros??

I use ros publisher "/cmd_vel"

like this,

ros::NodeHandle n; ros::Publisher cmd_pub = n.advertise<geometry_msgs::twist>("/cmd_vel", 1000);

while (ros::ok()) {

cmd_pub(msg); ros::getGlobalCallbackQueue()->callAvailable(ros::WallDuration(0.5));


so, my control rate is 0.5 seconds.

if I control nao for each 0.4 or 0.3 or less, nao ignore some order.

How can I reduce this interval? I already use spin() or spinOnce(), else(changing function).

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Closed for the following reason the question is answered, right answer was accepted by dlxhrl
close date 2014-07-30 22:10:37.345359

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answered 2013-10-07 12:59:41 -0500

jdorich gravatar image

updated 2013-10-07 16:17:29 -0500

You could use ros::Rate()

ros::NodeHandle n;
ros::Publisher cmd_pub = n.advertise<geometry_msgs::twist>("/cmd_vel", 1000);
ros::Rate loop_rate(2);

while (ros::ok()) {

The "loop_rate" input is a frequency in Hertz so you can adjust that as needed. See this tutorial for more details.

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Thank you for your response. OK, i'll try but It doesn't matter?? there are no spin() or spinOnce()?? or callbackqueue?

dlxhrl gravatar image dlxhrl  ( 2013-10-16 15:46:39 -0500 )edit

you only need to use the spin() or spinOnce() if you have subscribed to a topic. The loop_rate.sleep() performs the delay you require in this situation.

jdorich gravatar image jdorich  ( 2013-10-16 16:07:25 -0500 )edit

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Asked: 2013-10-07 07:34:09 -0500

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Last updated: Oct 07 '13