lightweight_throttle_nodelet¶
Description¶
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.
Parameter¶
~update_rate
(Double, default:1.0
):Publish rate of throttled message [Hz]. This parameter is updated only on launching this nodelet.