throttle

throttle is a ROS node that subscribes to a topic and republishes incoming data to another topic, either at a maximum bandwidth or maximum message rate. It's mainly useful for limiting bandwidth usage, e.g., over a wireless link. It can work with any message type.

throttle is part of topic_tools.

Parameters

• If True, then perform all rate measurements against wall clock time, regardless of whether simulation / log time is in effect. (New in ros_comm 1.5.3)

• If True, prefer to negotiate an unreliable connection for the inbound data. (New in ros_comm 1.5.3)

• If True, don't subscribe to input topic unless there is at least one subscriber on the output topic. (New in ros_comm 1.5.3)

throttle message (rate)

throttle messages <intopic> <msgs_per_sec> [outtopic]

• Throttle messages on <intopic> to a particular rate.

  • intopic: Incoming topic to subscribe to

  • msgs_per_sec: maximum messages per second to let through.

  • outtopic: Outgoing topic to publish on (default: intopic_throttle)

  e.g. throttle bandwidth-hogging laser scans (base_scan) to 1Hz:

  rosrun topic_tools throttle messages base_scan 1.0

throttle bytes (bandwidth)

throttle bytes <intopic> <bytes_per_sec> <window> [outtopic]

• Throttle message on <intopic> to a maximum bandwidth (bytes_per_sec).

  • intopic: Incoming topic to subscribe to

  • bytes_per_sec: Maximum bytes per second to let through

  • window: Window (in seconds) over which to sample

  • outtopic: Outgoing topic to publish on (default: intopic_throttle)

  e.g., throttle bandwidth-hogging laser scans (base_scan) to 1KBps:

  throttle bytes base_scan 1024 1.0