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.
Input topic. This topic is throttled to low publish rate.
Throttled topic. Publish rate of throttled topic is configurable by setting
Publish rate of throttled message [Hz]. This parameter is updated only on launching this nodelet.