CoppeliaSim forums

Hello,

I wonder if there is any way to control the publishing rate of the ros topic via the new ros interface?

Cheers

Hello,

with the new RosInterface you are fully in control of publishing a specific topic. Each time you call simExtRosInterface_publish, a new message will be sent to ROS.

Cheers

Hi,

I wanted to know how to increase the publishing rate. I see with 'rostopic hz' that the /image published by rosInterfaceTopicPublisherAndSubscriber.ttt is at a rate around 170 and the /sensorTrigger.... of controlTypeExamples.ttt publishes at around 55.
The reason I ask is because I want to publish the joint states of the baxter model as a sensor_msgs/JointState message and I am only getting a rate of around 16.

Thanks

Hello,

you are in full control of how many messages you are publishing with simExtRosInterface_publish (also make sure to increase the queue size when advertising the topic with simExtRosInterface_advertise). But it does not make sense to publish a messages more than once per simulation step, if the message content hasn't changed (which is the case almost all the time).

Cheers