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multiple nodes with different ros::Rate ?

Hi,

Using 4 nodes, I find that some loops are executed way too many times with the result that a simulation doesn't have the desired result. Is it wise to put 1 node on a rate of 1 or less, and another on 10? The messages will be exchanged, but how about the timing ?

Thanks.

multiple nodes with different ros::Rate ?

Hi,

Using 4 nodes, I find that some loops are executed way too many times with the result that a simulation doesn't have the desired result. Is it wise to put 1 node on a rate of 1 or less, and another on 10? The messages will be exchanged, but how about the timing ?

Thanks.In addition: I have 1 sensor node for camera, 1 trajectory node, 1 kinematics node and 1 node publishing to the robot. So according to your explanation, the sensor node should have a rate of 30, which makes perfect sense since the frame rate of the camera is 30 fps. The kinematics node, having a position loop, should be different and now has a loop rate of 10. In the past I had all nodes at loop rate 1, which didn't work out. Now, checking with rosbag, I find that the kin. loop is executed at rate 10 as well of course. I had not realized this would happen and it feels like way to much...perhaps 1 would be better. Can you give any advise ?