[ros-users] Patch for stage simulator: setting the topics publishing rate according to the stage-model update_interval parameter

Jack O'Quin jack.oquin at gmail.com
Wed Aug 1 12:24:44 UTC 2012

On Wed, Aug 1, 2012 at 6:15 AM, Pablo Iñigo Blasco <pabloinigo at atc.us.es> wrote:
> Hi!
> Here I provide a patch that could be useful for some stageros users.
> Stageros usually publishes information through some topics, among them:
> odom, scan and base_ground_truth. However these topics publish information
> in each simulation step. While it seems a right behavior for the
> base_ground_truth information, the odom and scan topics should (IMHO)
> publish information at the rate specified with the update_interval
> stage-parameter in the stage-world-config file. In this way sensor rate are
> well interfaced to the rest of the world nodes.
> The patch have been applied over the current head file --- src/stageros.cpp
> (revision 39760).

Thanks for the patch. It sounds like a good idea.

To make sure it does not get lost, would you please open a stage
enhancement ticket with this patch appended?

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