SynchronizedThrottle Nodelet


This is a nodelet for throttling like topic_tools/throttle, but throttled topics are synchronized. Unlike topic_tools/throttle, this nodelet accepts parameters to specify input topics and rate for throttling.


  • ~topics (String[], required)

    Input topics to be synchronized and throttled.


This nodelet uses message_filters for message synchronization. message_filters limits a number of input topics to 8 at maximum.

  • ~suffix (string, default: throttled)

    Suffix for advertised throttled topics.

  • ~update_rate (Double, default: 1.0)

    A rate for throttling messages. If this parameter is 0.0, no message is published.

  • ~use_wall_time (Bool, default: false)

    Use wall time for throttling timer if enabled.

  • ~use_multithread_callback (Bool, default: true)

    Use multithreaded node handle if enabled.

  • ~approximate_sync (Bool, default: false)

    Use approximate synchronization policy if enabled, otherwise messages are published only when they are strictly synchronized.

  • queue_size (Int, default: 100)

    Size of subscription queue.