Need to publish data at slower rate

[mkreddy477]

Hello,

I am working on application where my subscriber is pretty slow.
I want to publish the topic at lower rates.
Is there a way to do that?

Thanks and regards,
Murali

[fabianoboril]

Hi,
the ROS bridge simply provides all data that CARLA provides. Currently there is a PR in CARLA that allows sensors to use a different frequency than the main simulation core:
carla-simulator/carla#1116

Besides, why not dropping old messages on the subscriber side? Your callback could just fill a queue with the data that is relevant for you, and than do the processing? Or another solution is to use multithreaded spinning, to process incoming data in parallel (http://wiki.ros.org/roscpp/Overview/Callbacks%20and%20Spinning)

[fpasch]

carla-simulator/carla#1116 is merged. Therefore I close this issue.