How to change the publishing rate of airsim_node ?

[jzstudent]

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Hi,
when I used the ros package ( airsim_ros_pkgs ) to publish the image or depth image, I found that the rate is only 0.6! How to improve it?
I have already changed the publish_to_ros in .json, but it seems to be useless. Maybe the reason is that simgetImage() is slow, how can I slove it?

[saihv]

What image resolution are you using?

[Omar-Elmofty]

I have the same question, was anyone able to figure out how to change the publishing rate?

[GimpelZhang]

I have the same question, was anyone able to figure out how to change the publishing rate?

First please check if the "update_airsim_img_response_every_n_sec" parameter has been tuned.

If the publishing rate is limited by the computer performance, maybe changing the ClockSpeed setting to a less than one number is a solution.

I have tested that slower simulation would produce denser image response.

Related discussion in #2369

[jzstudent]

I have the same question, was anyone able to figure out how to change the publishing rate?

Hi, I've tried to set "ViewMode": "NoDisplay" in .json, it makes the rate improve and I 've already slove it.

[Omar-Elmofty]

Thanks! The NoDisplay mode helped a lot, also slowing down the simulation helps.