Synchronize throttling

asked 2011-02-14 16:29:45 -0500

Tully
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Does the throttle node under topic_tools support synchronized throttling? I have a stereo camera and I'm logging left/image_rect, right/image_rect and the relevant camera info topics. Is there an easy way to log at a slower rate and keep all the messages in sync?

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answered 2011-02-14 16:30:32 -0500

tfoote

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Unfortunately topic_tools does not support synchronized throttling. Can you open a ticket to make sure this gets tracked?

I don't have an easier solution for you than hand-rolling a node to subscribe to the four topics, synchronized, and republish them at a slower rate.

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Just to save you a tiny bit of rewrite time, if you look in https://code.ros.org/svn/wg-ros-pkg/branches/trunk_cturtle/sandbox/grasp_playpen/src I do the same thing (subscribe, synchronize, republish) for the PR2's narrow and wide stereo cameras in throttle_stereo.cpp . I also wrote a modified version of rxbag's recorder.py that does throttled recording of a list of topics at different rates from (Python) code, which is in grasp_playpen/src/grasp_playpen, in case that's useful to you.