I am trying to publish an odom message. If i set the rate to 10 then it should publish at a frequency of 10Hz but it is publishing at 50000Hz. I have sim-time turned off. I am using a virtual machine if that matters.
#include
#include
#include
#include "std_msgs/String.h"
#include
#include
double x = 0;
double y = 0;
double th = 0;
double vx = 0;
double vy = 0;
double vth = 0;
ros::Time time_stamp;
char child_frame_id[] = "base_link";
char frame_id[] = "odom";
void messageCallback(const my_message_types::due_odom& msg)
{
x = msg.x;
y = msg.y;
th = msg.th;
vx = msg.vx;
vy = msg.vy;
vth = msg.vth;
// child_frame_id = msg.child_frame_id;
time_stamp = msg.header.stamp;
// frame_id = msg.header.frame_id;
}
int main(int argc, char** argv){
ros::init(argc, argv, "odometry_publisher");
ros::NodeHandle n;
ros::Publisher odom_pub = n.advertise("odom", 50);
ros::Subscriber odom_sub = n.subscribe("due_odom", 1000, messageCallback);
tf::TransformBroadcaster odom_broadcaster;
ros::Rate r(10);
while(n.ok()){
ros::spinOnce(); // check for incoming messages
//since all odometry is 6DOF we'll need a quaternion created from yaw
geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(th);
//first, we'll publish the transform over tf
geometry_msgs::TransformStamped odom_trans;
odom_trans.header.stamp = time_stamp;
odom_trans.header.frame_id = frame_id;
odom_trans.child_frame_id = child_frame_id;
odom_trans.transform.translation.x = x;
odom_trans.transform.translation.y = y;
odom_trans.transform.translation.z = 0.0;
odom_trans.transform.rotation = odom_quat;
//send the transform
odom_broadcaster.sendTransform(odom_trans);
//next, we'll publish the odometry message over ROS
nav_msgs::Odometry odom;
odom.header.stamp = time_stamp;
odom.header.frame_id = frame_id;
//set the position
odom.pose.pose.position.x = x;
odom.pose.pose.position.y = y;
odom.pose.pose.position.z = 0.0;
odom.pose.pose.orientation = odom_quat;
//set the velocity
odom.child_frame_id = child_frame_id;
odom.twist.twist.linear.x = vx;
odom.twist.twist.linear.y = vy;
odom.twist.twist.angular.z = vth;
//publish the message
odom_pub.publish(odom);
r.sleep();
}
}
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