generic_throttle

generic_throttle is package offering a Python implementation of a throttle for topics.

The package is composed of - GenericThrottle: class implementing the throttle - generic_throttle_node: ROS node wrapping around an instance of GenericThrottle

The parameters are set as privat parameters of the node. An example .yaml file could look like this:

topics:               # List of topics to be throttled
  - /topic1: {latched: False, lazy: True, topic_rate: 1.0}
  - /topic2: {latched: True, lazy: False, topic_rate: 20.0}
  - /image_topic: {latched: False, lazy: True, topic_rate: 20.0, resolution_factor: 0.5}

For each topic, 3 parameters must be specified: - latched: if True, the publisher of the throttled topic acts as latched (see http://docs.ros.org/api/rospy/html/rospy.topics.Publisher-class.html) - lazy: if True, the publisher of the throttled topics will check if the number of subscribers and if there are no, it will not publish the message - topic_rate: desired rate (in Hz) for the throttled topic.

Optional parameter: - resolution_factor: it is meant for topics of type sensor_msgs/Image. If available, the throttle will reduce the resolution of the image by the specified factor. For example, if resolution_factor: 0.5, width and height will be halved.

The throttle will publish on topics with name /topic_throttled (it appends _throttled to the original name). When running an instance of generic_throttle_node, you must define the throttle namespace to let the node discover the required parameters. An example from .launch file:

<node pkg="generic_throttle" type="generic_throttle_node.py" name="throttle" ns="test_throttle" />

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