SynchronizedThrottle Nodelet¶
Description¶
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.
Parameters¶
~topics
(String[]
, required)Input topics to be synchronized and throttled.
Warning
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.