generic_throttle

generic_throttle is package offering a Python implementation of a throttle for topics.

The package is composed of

• GenericThrottle: class implementing the throttle
• generic_throttle_node: ROS node wrapping around an instance of GenericThrottle

The parameters are set as privat parameters of the node. An example .yaml file could look like this:

topics:               # List of topics to be throttled
  - /topic1: {latched: False, lazy: True, topic_rate: 1.0}
  - /topic2: {latched: True, lazy: False, topic_rate: 20.0}
  - /image_topic: {latched: False, lazy: True, topic_rate: 20.0, resolution_factor: 0.5}

For each topic, 3 parameters must be specified:

• latched: if True, the publisher of the throttled topic acts as latched (see http://docs.ros.org/api/rospy/html/rospy.topics.Publisher-class.html)
• lazy: if True, the publisher of the throttled topics will check if the number of subscribers and if there are no, it will not publish the message
• topic_rate: desired rate (in Hz) for the throttled topic.

Optional parameter:

• resolution_factor: it is meant for topics of type sensor_msgs/Image. If available, the throttle will reduce the resolution of the image by the specified factor. For example, if resolution_factor: 0.5, width and height will be halved.

The throttle will publish on topics with name /topic_throttled (it appends _throttled to the original name). When running an instance of generic_throttle_node, you must define the throttle namespace to let the node discover the required parameters. An example from .launch file:

<node pkg="generic_throttle" type="generic_throttle_node.py" name="throttle" ns="test_throttle" />

Changelog for package generic_throttle

0.6.35 (2024-04-30)

0.6.34 (2024-02-18)

0.6.33 (2023-11-06)

0.6.32 (2023-04-29)

0.6.31 (2023-01-04)

0.6.30 (2022-11-17)

0.6.29 (2022-07-29)

0.6.28 (2022-03-15)

0.6.27 (2022-01-12)

0.6.26 (2021-11-26)

0.6.25 (2021-08-02)

0.6.24 (2021-07-02)

0.6.23 (2021-07-01)

0.6.22 (2021-05-10)

0.6.21 (2021-04-06)

0.6.20 (2021-01-25)

• Merge pull request #294 from fmessmer/fix_python3 fix python3
• fix python3
• Merge pull request #291 from fmessmer/fix_python3 fix python3
• Merge pull request #3 from LoyVanBeek/fix_python3 Get first key and value compatible with both Python 2 & 3
• Get first key and value compatible with both Python 2 & 3
• Contributors: Felix Messmer, Loy van Beek, fmessmer

0.6.19 (2020-12-02)

0.6.18 (2020-10-21)

0.6.17 (2020-10-17)

• Merge pull request #284 from fmessmer/test_noetic test noetic
• use setuptools instead of distutils
• Bump CMake version to avoid CMP0048 warning
• Contributors: Felix Messmer, fmessmer

0.6.16 (2020-03-18)

• Merge pull request #270 from LoyVanBeek/feature/python3_compatibility [ci_updates] pylint + Python3 compatibility
• fix more pylint errors
• fix pylint errors
• Merge pull request #271 from fmessmer/ci_updates [travis] ci updates
• catkin_lint fixes
• Contributors: Felix Messmer, fmessmer

0.6.15 (2019-11-07)

0.6.14 (2019-08-07)

0.6.13 (2019-07-19) ------------------

0.6.12 (2019-06-07)

0.6.11 (2019-04-05)

0.6.10 (2019-03-14)

0.6.9 (2018-07-21)

• update maintainer
• Contributors: ipa-fxm

0.6.8 (2018-07-21)

0.6.7 (2018-01-07)

• Merge remote-tracking branch 'origin/indigo_release_candidate' into indigo_dev
• Merge pull request #209 from ipa-fxm/generic_throttle_private_param use private parameters for generic_throttle
• use private parameters for generic_throttle
• Merge pull request #197 from ipa-fxm/APACHE_license use license apache 2.0
• use license apache 2.0
• Contributors: Benjamin Maidel, Felix Messmer, ipa-fxm, ipa-uhr-mk

0.6.6 (2017-07-17)

• Change resolution factor to be a multiplicative factor and not a division. Handle resize to factor 0 as OpenCV error.
• Change misleading resolution with resolution_factor
• Add rostopic exec_depend
• Remove cv_bridge build dependency
• Update manifest and cmake list
• Update README.md to resolution throttle.
• Implement resolution throttle for sensor_msgs/Image.
• Add \@ipa-fmw as maintainer.
• Add install tags for the executable node
• Move throttle_node to script folder. Fix typos in README.
• Update README
• Rewrite lazy and latched behavior implementation
• Adapt to new parameter definition layout. Parameters are now set in the node namespace. Throttled topics have "_throttled" appended to original topic name.
• Add ROS node for the throttle separated from the GenericThrottle implementation
• Implement lazy behavior. Lazy and Latched behavior are disabled by default
• Remove delay feature. Add latched behaviour (True/False).
• Remove build dependency on rospy
• Remove CMakeLists.txt not needed depedencies.
• Change package to format "2" and remove not needed dependencies
• Update README
• Moving the python package inside src/generic_throttle. Modifying accordingly CMakeLists.txt and package.xml.
• remove testing files
• introduce directory layer
• Contributors: MattiaRacca