Feature request: rate limit publishing of topics

[ros-industrial]

Feature request: rate limit publishing of topics

[ThomasTimm]

I think all the data is published at 125 Hz, which is the update frequency of the controller.
It would be fairly easy to implement a divider to only publish every 2nd, 3rd etc... status message.
The publishing frequency would then not be an integer number, but I don't see that is an issue.

Is that a feasable solution?

[xqms]

Note that you can also simply use the throttle node from topic_tools package to apply external throttling to arbitrary rates without changing anything in the driver.

[gavanderhoorn]

I believe the suggestion by @xqms makes sense, as it works in all cases.

The ros_control side of the driver actually supports configurable publication rates, so that would seem to be a viable option if using throttle is not possible/desirable.