This nodelet provides function like rosrun topic_tools throttle messages, but subscribes high rate topic only when throttled topic is subscribed by more than equal one subscriber.

The rate of throttled message is configurable by passing ~update rate parameter on launching this nodelet.

Subscribing Topic

  • ~input (AnyMsg):

    Input topic. This topic is throttled to low publish rate.

Publishing Topic

  • ~output (AnyMsg):

    Throttled topic. Publish rate of throttled topic is configurable by setting ~update_rate parameter.


  • ~update_rate (Double, default: 1.0):

    Publish rate of throttled message [Hz]. This parameter is updated only on launching this nodelet.