Add maximum publication rate parameter #5
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This will expose an interface by which we can limit the rate of published images and reduce the load on the PC running this package.
eholum
reviewed
Dec 13, 2023
src/vision.cpp
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| } | ||
| else | ||
| { | ||
| RCLCPP_WARN(node_->get_logger(), "Should have successfully set max_pub_rate: '%f'", max_pub_rate_hz_); |
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| RCLCPP_WARN(node_->get_logger(), "Should have successfully set max_pub_rate: '%f'", max_pub_rate_hz_); | |
| RCLCPP_WARN(node_->get_logger(), "Using max_pub_rate: '%f'", max_pub_rate_hz_); |
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Oh, good catch. Had this in here for debugging
| @@ -549,6 +563,7 @@ void Vision::run() | |||
| } | |||
| } | |||
| rclcpp::spin_some(node_); | |||
| max_pub_rate_->sleep(); | |||
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Is anything being caught in the sink or is it always pulling the latest image? ie, if you set the rate to something very very slow is it up to date our do we see lag?
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Looks like it pulls the latest image. I set the rate to 0.5 and I still see recent data
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eholum
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Dec 13, 2023
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This will expose an interface by which we can limit the rate of published images and reduce the load on the PC running this package.